IMU Pre-Integration in Python

[chrisflesher]

Hello, today is the first day I was looking at SymForce. I pip installed symforce v0.9.0 with python3.8 from PyPi, that worked. The first thing I tried was to attempt IMU pre-integration but was unable to import the objects needed...

Tried:

from symforce.slam.imu_factor import ImuFactor
from symforce.slam.imu_preintegration import ImuPreintegrator
import symforce.slam.imu_preintegration.imu_factor
import symforce.slam.imu_preintegration.imu_preintegrator

These don't seem to be installed?

Maybe this is related to issue #323?

[chrisflesher]

README.md suggest building from source, this built successfully but still can't seem to import ImuFactor or ImuPreintegrator.

Is the answer to use the code in manifold_symbolic? If so it would be great to see some example code or unit tests for this, I didn't find any in the repo.

Thanks!