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Phase 3: Simplify example logging using __repr__ #145

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Merged
teresa-ortega merged 1 commit into from
Apr 16, 2026
Merged

Phase 3: Simplify example logging using __repr__ #145

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19 changes: 13 additions & 6 deletions examples/beluga/beluga_benchmark.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,7 @@ def nominal(ctx):
Args:
ctx: Lambkin context with variant, options, source, and shell access.
"""
print(f"variation: {ctx.variant.sensor_model}, {ctx.variant.num_particles}")
print(f"iteration: {ctx.iteration}")
print(f"clock_rate: {ctx.options.clock_rate}")
print(f"sensor_topic: {ctx.options.sensor_topic}")
print(f"source: {ctx.source}")
print("---")
print(ctx)
ctx.shell.ros2.launch(
ctx.source.path.parent / "beluga.launch.xml",
f"sensor_model:={ctx.variant.sensor_model}",
Expand All @@ -49,5 +44,17 @@ def nominal(ctx):
ctx.shell.evo_ape.bag2("output.mcap", save_results="out.zip")


@nominal.input
def dataset(ctx):
"""Return the path to the MCAP dataset used as input for the benchmark."""
return "/mydataset/dataset.mcap"


@nominal.input
def map(ctx):
"""Return the path to the map file used for localization."""
return "my_map.yaml"


if __name__ == "__main__":
nominal()
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