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Use internal MyST links in published docs#2458

Merged
dellaert merged 5 commits intodevelopfrom
codex/use-myst-internal-doc-links
Mar 10, 2026
Merged

Use internal MyST links in published docs#2458
dellaert merged 5 commits intodevelopfrom
codex/use-myst-internal-doc-links

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@dellaert
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Summary

  • replace hard-coded https://borglab.github.io/gtsam/... links in published docs with file-relative MyST links
  • keep external links only where they are actually external (for example Colab, roboticsbook, GitHub source links)
  • fix one broken relative notebook link in gtsam/navigation/doc/Gal3ImuEKF.ipynb

Changed files

  • gtsam/geometry/doc/Pose2.ipynb
  • gtsam/navigation/doc/EKF-variants.md
  • gtsam/navigation/doc/Gal3ImuEKF.ipynb
  • gtsam/navigation/doc/InvariantEKF.ipynb
  • gtsam/navigation/doc/NavStateImuEKF.ipynb
  • gtsam/nonlinear/doc/PriorFactor.ipynb
  • python/gtsam/examples/DifferentialPseudorangeExample.ipynb
  • python/gtsam/examples/DiscreteMotionModel.ipynb
  • python/gtsam/examples/SinglePointPositioningExample.ipynb

Verification

  • ran myst build --html --check-links
  • the internal-link conversions on the touched pages no longer produce unresolved-link errors
  • the project still has many unrelated pre-existing MyST issues, including GitHub 429 link checks, one stale Gal3 doxygen link, a math parse issue in PriorFactor, and an existing duplicate-id warning in DiscreteMotionModel

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timeSFMBAL benchmark

  • Head: ac11aa18630e4c1bc7bb439d8b4a7e86c6ab1d4e
  • Base: 5787085b737bdbee4e826bace2bb92b0502d9d16
Runner Metric Base (s) Head (s) Delta (s) Change
linux-arm64-tbbOFF timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalCholesky 9.666876 9.768019 +0.101143 +1.05%
linux-arm64-tbbOFF timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalSolver 12.948227 12.879132 -0.069095 -0.53%
linux-arm64-tbbON timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalCholesky 5.721190 5.572550 -0.148640 -2.60%
linux-arm64-tbbON timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalSolver 9.638360 9.531167 -0.107194 -1.11%
linux-x64-tbbOFF timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalCholesky 11.929351 11.994795 +0.065444 +0.55%
linux-x64-tbbOFF timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalSolver 18.350171 18.469227 +0.119057 +0.65%
linux-x64-tbbON timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalCholesky 7.306249 7.508490 +0.202242 +2.77%
linux-x64-tbbON timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalSolver 15.140605 15.188960 +0.048355 +0.32%
macos-arm64-tbbOFF timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalCholesky 30.390291 39.541978 +9.151686 +30.11%
macos-arm64-tbbOFF timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalSolver 22.368689 22.378855 +0.010167 +0.05%
macos-arm64-tbbON timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalCholesky 32.883690 36.349840 +3.466150 +10.54%
macos-arm64-tbbON timeSFMBAL/dubrovnik-135-90642-pre.txt/MultifrontalSolver 17.943075 20.492360 +2.549286 +14.21%

Worker runs

Role Runner SHA Conclusion
head linux-x64 ac11aa18630e4c1bc7bb439d8b4a7e86c6ab1d4e success
base linux-x64 5787085b737bdbee4e826bace2bb92b0502d9d16 success
head linux-arm64 ac11aa18630e4c1bc7bb439d8b4a7e86c6ab1d4e success
base linux-arm64 5787085b737bdbee4e826bace2bb92b0502d9d16 success
head macos-arm64 ac11aa18630e4c1bc7bb439d8b4a7e86c6ab1d4e success
base macos-arm64 5787085b737bdbee4e826bace2bb92b0502d9d16 success

@dellaert
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Update: also made cell ids unique

@dellaert dellaert merged commit 1ff220c into develop Mar 10, 2026
1 of 32 checks passed
@dellaert dellaert deleted the codex/use-myst-internal-doc-links branch March 10, 2026 18:25
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