Change all pylie to pymlg

README.rst

@@ -33,7 +33,7 @@ Clone this repo, change to its directory, and execute
 
     pip install -e .
 
-This command should automatically install all dependencies, including our package `pylie` (found at https://github.com/decargroup/pylie) for back-end Lie group mathematical operations.
+This command should automatically install all dependencies, including our package `pymlg` (found at https://github.com/decargroup/pymlg) for back-end Lie group mathematical operations.
 
 Examples
 ^^^^^^^^
@@ -105,7 +105,7 @@ As another more complicated example, a state object belonging to the SE(3) Lie g
 .. code-block:: python
 
     from navlie.types import State 
-    from pylie import SE3 
+    from pymlg import SE3 
     import numpy as np 
 
     class SE3State(State):

examples/ex_inertial_nav.py

@@ -4,7 +4,7 @@
 """
 from typing import List
 import numpy as np
-from pylie import SE23
+from pymlg import SE23
 from navlie.lib import (
     IMU,
     IMUState,

examples/ex_invariant_so3.py

@@ -6,7 +6,7 @@
     SO3State,
 )
 import navlie as nav
-from pylie import SO3
+from pymlg import SO3
 import numpy as np
 
 

navlie/lib/datasets.py

@@ -13,7 +13,7 @@
     GlobalPosition,
 )
 import numpy as np
-from pylie import SE3, SE23
+from pymlg import SE3, SE23
 
 
 class SimulatedPoseRangingDataset(nav.Dataset):

navlie/lib/imu.py

@@ -1,4 +1,4 @@
-from pylie import SO3, SE23
+from pymlg import SO3, SE23
 import numpy as np
 from navlie.types import ProcessModel, Input
 from typing import Any, List, Tuple

navlie/lib/models.py

@@ -10,7 +10,7 @@
     MatrixLieGroupState,
     VectorState,
 )
-from pylie import SO2, SO3
+from pymlg import SO2, SO3
 import numpy as np
 from typing import List, Any
 from scipy.linalg import block_diag

navlie/lib/preintegration.py

@@ -12,7 +12,7 @@
 )
 from navlie.lib.states import MatrixLieGroupState, VectorState
 import numpy as np
-from pylie import SO3, SE3, SE2, SE23, MatrixLieGroup
+from pymlg import SO3, SE3, SE2, SE23, MatrixLieGroup
 
 
 class RelativeMotionIncrement(Input):

navlie/lib/states.py

@@ -1,5 +1,5 @@
-from pylie import SO2, SO3, SE2, SE3, SE23, SL3
-from pylie.numpy.base import MatrixLieGroup
+from pymlg import SO2, SO3, SE2, SE3, SE23, SL3
+from pymlg.numpy.base import MatrixLieGroup
 import numpy as np
 from navlie.types import State
 from typing import Any, List
@@ -77,7 +77,7 @@ def __init__(
             coordinates. Otherwise, the value must be a 2D numpy array representing
             a direct element of the group in matrix form.
         group : MatrixLieGroup
-            A `pylie.MatrixLieGroup` class, such as `pylie.SE2` or `pylie.SO3`.
+            A `pymlg.MatrixLieGroup` class, such as `pymlg.SE2` or `pymlg.SO3`.
         stamp : float, optional
             timestamp, by default None
         state_id : Any, optional

setup.py

@@ -15,7 +15,7 @@
         "scipy>=1.7.1",
         "matplotlib>=3.4.3",
         "joblib>=1.2.0",
-        "pylie @ git+https://github.com/decargroup/pylie@main",
+        "pymlg @ git+https://github.com/decargroup/pymlg@main",
         "tqdm>=4.64.1",
         "seaborn>=0.11.2",
     ],

tests/integration/test_batch_noiseless.py

@@ -15,7 +15,7 @@
 from navlie.filters import ExtendedKalmanFilter, run_filter
 from navlie.utils import GaussianResult, GaussianResultList, plot_error, randvec
 from navlie.batch.estimator import BatchEstimator
-from pylie import SO3, SE3
+from pymlg import SO3, SE3
 import numpy as np
 import matplotlib.pyplot as plt
 

tests/integration/test_filter_ekf_basic.py

@@ -19,7 +19,7 @@
     Gravitometer,
     RangePoseToAnchor,
 )
-from pylie import SE3
+from pymlg import SE3
 
 import numpy as np
 from typing import List

tests/integration/test_filter_ekf_noiseless.py

@@ -18,7 +18,7 @@
     Gravitometer,
     RangePoseToAnchor,
 )
-from pylie import SE3
+from pymlg import SE3
 
 import numpy as np
 from typing import List

tests/integration/test_interacting_multiple_models.py

@@ -14,7 +14,7 @@
     Gravitometer,
 )
 from navlie.lib.models import RangePoseToAnchor
-from pylie import SE3
+from pymlg import SE3
 
 import numpy as np
 from typing import List

tests/integration/test_iterated_ekf.py

@@ -4,7 +4,7 @@
 from navlie.filters import ExtendedKalmanFilter, IteratedKalmanFilter
 from navlie.utils import GaussianResult, GaussianResultList, randvec, monte_carlo
 from navlie.types import StateWithCovariance, State
-from pylie import SE3
+from pymlg import SE3
 import numpy as np
 from typing import List
 import pytest

tests/unit/test_batch_residuals.py

@@ -4,7 +4,7 @@
 from navlie.lib.models import SingleIntegrator, BodyFrameVelocity, GlobalPosition
 from navlie.batch.estimator import PriorResidual, ProcessResidual, MeasurementResidual
 from navlie.lib.states import VectorState, SE3State
-from pylie import SE3
+from pymlg import SE3
 import numpy as np
 
 def test_prior_residual_vector():

tests/unit/test_body_velocity.py

@@ -4,7 +4,7 @@
     RangePoseToAnchor,
     RelativeBodyFrameVelocity,
 )
-from pylie import SO2, SO3, SE3, SE2, SE3, SE23
+from pymlg import SO2, SO3, SE3, SE2, SE3, SE23
 import numpy as np
 import pytest
 from navlie.types import StampedValue

tests/unit/test_camera.py

@@ -1,6 +1,6 @@
 from navlie.lib.camera import Camera, PoseMatrix
 import numpy as np
-from pylie import SE3
+from pymlg import SE3
 
 
 def test_valid_measurements():

tests/unit/test_composite.py

@@ -6,7 +6,7 @@
     RangeRelativePose,
     CompositeInput,
 )
-from pylie import SE2
+from pymlg import SE2
 import numpy as np
 import pickle
 import os

tests/unit/test_imu.py

@@ -10,7 +10,7 @@
     G_matrix,
     G_matrix_inv,
 )
-from pylie import SE23, SO3
+from pymlg import SE23, SO3
 import numpy as np
 from math import factorial
 import pytest

tests/unit/test_meas_models.py

@@ -19,7 +19,7 @@
     GlobalVelocity,
 )
 from navlie.types import Measurement, MeasurementModel
-from pylie import SO3, SE3, SE2, SE3, SE23
+from pymlg import SO3, SE3, SE2, SE3, SE23
 import numpy as np
 import pytest
 

tests/unit/test_preintegration.py

@@ -11,7 +11,7 @@
 from navlie.filters import ExtendedKalmanFilter
 from navlie.lib.states import SE3State, VectorState
 import numpy as np
-from pylie import SE23, SE2, SE3, SO3
+from pymlg import SE23, SE2, SE3, SO3
 from navlie.types import StampedValue, StateWithCovariance
 import pytest
 

tests/unit/test_spkf.py

@@ -1,7 +1,7 @@
 from navlie.lib.states import MatrixLieGroupState, VectorState, SE3State
 import numpy as np
 from navlie.filters import mean_state, generate_sigmapoints
-from pylie import SE3
+from pymlg import SE3
 np.random.seed(0)
 
 def test_mean_state_vector():

tests/unit/test_states.py

@@ -10,7 +10,7 @@
     MatrixLieGroupState
 )
 from navlie.types import State
-from pylie import SO3, SE3
+from pymlg import SO3, SE3
 import numpy as np
 import pytest
 import sys

tests/unit/test_utils.py

@@ -7,7 +7,7 @@
     SE3State,
     SO3State,
 )
-from pylie import (
+from pymlg import (
     SE23, SE3, SO3
 )
 import numpy as np