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Pull request overview
Adds support for variable-size (dynamic dimension) ProductLieGroup compositions and propagates GetDimension()'s return type to size_t across the library and bindings.
Changes:
- Extend
ProductLieGroupto support dynamic factor dimensions with runtime checks and newExpmapoverloads. - Switch manifold dimension APIs (
GetDimension, EKF dimension accessors) frominttosize_tand tighten runtime matrix size validation. - Add/expand tests covering dynamic-dimension product groups and their Jacobians.
Reviewed changes
Copilot reviewed 10 out of 10 changed files in this pull request and generated 7 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/testProductLieGroup.cpp | Adds new tests for dynamic-dimension ProductLieGroup (Vector×Rot3, Vector×Vector) including Jacobian checks and exceptions. |
| tests/testNonlinearOptimizer.cpp | Updates a test trait GetDimension return type to size_t to match the new dimension API. |
| gtsam/slam/PoseTranslationPrior.h | Uses size_t for translation/pose dimensions when building Jacobians. |
| gtsam/nonlinear/ExtendedKalmanFilter-inl.h | Updates EKF internal dimension variable to size_t. |
| gtsam/navigation/navigation.i | Updates SWIG-exposed dimension() signature to size_t. |
| gtsam/navigation/ManifoldEKF.h | Improves runtime matrix-size validation and switches EKF runtime dimension storage/accessors to size_t. |
| gtsam/linear/NoiseModel.h | Removes redundant casts now that GetDimension returns size_t. |
| gtsam/base/VectorSpace.h | Switches GetDimension to size_t and implements DynamicTraits::Expmap for partially dynamic matrices. |
| gtsam/base/ProductLieGroup.h | Introduces dynamic-dimension support, runtime checks, and additional Expmap overloads. |
| gtsam/base/Manifold.h | Changes GetDimensionImpl::GetDimension to return size_t for consistency. |
timeSFMBAL benchmark
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@ProfFan timing is still useless unless caching is disabled. |
rohan-bansal
approved these changes
Mar 8, 2026
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rohan-bansal
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PR looks good, thanks for adding this! Will build upon it.
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All tests pass, c++ and python. New c++ tests that test variable size capabilities.