Values accept Dict

[hflemmen]

Values accept Dict

[aaron-skydio]

You should be able to put a Values in a Values, which should be similar to putting a Dict in a Values? Is there a reason that doesn't cover what you need?

[hflemmen]

It could be that it cover what I need. I did try to do this, but I struggled with different errors.

How would I reference a key in a Values inside a Values?

E.g. (slightly modified from robot_2d_localization)

    landmarks = Values()
    landmarks["landmark_0"] = sf.V2(-2, 2)
    landmarks["landmark_1"] = sf.V2(1, -3)
    landmarks["landmark_2"] = sf.V2(5, 2)

    initial_values = Values(
        poses=[sf.Pose2.identity()] * num_poses,
        landmarks=landmarks,
        distances=[1.7, 1.4],
        angles=np.deg2rad([[55, 245, -35], [95, 220, -20], [125, 220, -20]]).tolist(),
        epsilon=sf.numeric_epsilon,
    )

How would i reference the key to eg. landmark_0?

When constructing a Factor accessing the key as keys=[f"poses[{i}]", f"landmarks[landmark_{j}]", f"angles[{i}][{j}]", "epsilon"], failed.

The full modified example: robot_2d_localization.txt

[aaron-skydio]

You should be able to do f"landmarks.landmark_{j}"

[hflemmen]

Correct, it works. Thank you.

It covers my use case, so I close this now.