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Finalized LQR example. Fixed colab env verification. Fixed elimination ordering in visualization and markdown text
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‎python/gtsam/examples/LQRExample.ipynb‎

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},
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{
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"cell_type": "code",
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"execution_count": 29,
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"execution_count": 14,
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"metadata": {
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"id": "-wKB9H9ZaASf"
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"colab": {
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"base_uri": "https://localhost:8080/"
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},
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"id": "-wKB9H9ZaASf",
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"outputId": "a5ffc820-2e40-41e8-b82f-ea0245a02fea"
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},
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"outputs": [],
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Proceed (Y/n)? y\n",
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"Proceed (Y/n)? y\n"
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]
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}
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],
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"source": [
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"# Try uninstall then reinstall, should Colab crashes\n",
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"# %pip uninstall --quiet gtsam-develop\n",
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"# %pip uninstall --quiet gtbook\n",
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"%pip install --quiet gtsam-develop\n",
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"%pip install --quiet gtbook"
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"try:\n",
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" %pip uninstall --quiet gtsam-develop\n",
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" %pip uninstall --quiet gtbook\n",
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"except:\n",
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" pass\n",
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"\n",
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"try:\n",
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" import google.colab\n",
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" %pip install --quiet gtsam-develop\n",
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" %pip install --quiet gtbook\n",
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"except ImportError:\n",
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" pass # Not in Colab\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 30,
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"execution_count": 15,
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"metadata": {
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"id": "hUK913WGZvB1"
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},
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{
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"cell_type": "code",
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"execution_count": 16,
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"metadata": {
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"id": "iQRHn0qFdYXL"
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},
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{
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"cell_type": "code",
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"execution_count": 32,
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"execution_count": 17,
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"id": "R6YXu9dcTkWG"
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},
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{
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"cell_type": "code",
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"execution_count": 33,
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"execution_count": 18,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/",
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"height": 460
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},
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"id": "Pg5n_cfVd5V7",
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"outputId": "fbb9a36b-207c-41f3-fc7b-e8e624316470"
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"outputId": "8959467e-c2d3-4762-d278-a1102e4e4076"
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},
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"outputs": [
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{
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" [0.14365837, 0.04085496]])"
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},
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"execution_count": 33,
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"execution_count": 18,
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"metadata": {},
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"output_type": "execute_result"
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"cell_type": "code",
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"execution_count": 34,
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"execution_count": 19,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/",
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"height": 103
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"id": "ggr3ukXoMw06",
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"outputId": "298167de-0dd5-4326-c42f-dcc2fcfb04e3"
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"outputId": "00d4fc60-6e17-48b8-aa62-859886626ae4"
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},
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"outputs": [
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{
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"</svg>\n"
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],
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"text/plain": [
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"<graphviz.sources.Source at 0x79fa3f7459d0>"
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"<graphviz.sources.Source at 0x785e48175790>"
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]
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},
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"execution_count": 34,
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"execution_count": 19,
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"metadata": {},
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}
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},
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"cell_type": "code",
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"execution_count": 35,
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"execution_count": 20,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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"id": "FZ1zz1ozM0RP",
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"outputId": "5c8118b7-4e66-4fbc-fc6c-cb8c0d2916c5"
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"outputId": "d5bdde07-13e7-48e7-de9c-1f0f05ba21f1"
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"cell_type": "code",
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"execution_count": 36,
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"execution_count": 21,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/",
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"height": 176
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"id": "8ZT2qtwyM7o_",
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"outputId": "cc21b368-449a-46fd-e47f-b9dc0b4a3e41"
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"outputId": "64ed7e96-a7e5-453d-e005-462bfe583ff6"
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"outputs": [
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{
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"</svg>\n"
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],
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"text/plain": [
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"<gtbook.display.show at 0x79fa3f74d610>"
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"<gtbook.display.show at 0x785e276f0c50>"
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]
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},
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"execution_count": 36,
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"execution_count": 21,
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},
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"cell_type": "code",
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"execution_count": 22,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/",
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"height": 447
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"id": "0MyYkdtkYdus",
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"outputId": "7cbf295f-46a1-4976-9180-2c0af8af38b1"
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"outputId": "7f5703d8-c619-4116-b300-aae958b5150c"
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"outputs": [
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{
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"data": {
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"text/plain": [
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"<matplotlib.image.AxesImage at 0x79fa656bc850>"
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"<matplotlib.image.AxesImage at 0x785e276bec50>"
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]
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},
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"execution_count": 22,
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"cell_type": "code",
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"execution_count": 23,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/",
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"height": 211
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"id": "qcekbRZweMlN",
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"outputId": "b803fe99-5d4c-46aa-a79a-04ede28ef989"
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"outputId": "20eb32ea-2a59-455a-ca6c-b2c6c4662951"
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"</svg>\n"
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"text/plain": [
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"<gtbook.display.show at 0x79fa3f374fd0>"
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"<gtbook.display.show at 0x785e261e29d0>"
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"execution_count": 23,
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"metadata": {},
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"source": [
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"# The resulting Bayesian graph under a different ordering\n",
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"# The dependency would change, like we have described before\n",
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"# The resulting dependency would change, like we have described before\n",
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"\n",
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"# New ordering\n",
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"N = 4\n",
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},
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"execution_count": 24,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/",
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"height": 563
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"id": "bZt3HQ5xCVoN",
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"outputId": "9e870736-4741-4e72-9d74-9e13c3eb797f"
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"outputId": "927f1b13-3a5b-4d19-b517-fdb7c1332237"
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"outputs": [
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{

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