wip, refactoring sample to tangents

src/Deprecated.jl

@@ -4,6 +4,8 @@
 ## Remove below before v0.6
 ## ======================================================================================================
 
+@deprecate sample(x::ManifoldKernelDensity, N::Int) [sample(x, identity_element(x.manifold, x._u0), false)[1] for _ in 1:N]
+
 export productbelief
 
 """
@@ -45,7 +47,7 @@ end
 # end
 
 
-@deprecate calcVariableCovarianceBasic(M::AbstractManifold, vecP::Vector{P}) where P calcCovarianceBasic(M, vecP)
+@deprecate calcVariableCovarianceBasic(M::AbstractManifold, vecP::AbstractVector{P}) where P calcCovarianceBasic(M, vecP)
 
 ## ======================================================================================================
 ## Remove below before v0.5

src/Interface.jl

@@ -33,6 +33,8 @@ function makeCoordsFromPoint( M::MB.AbstractManifold,
                               pt::P ) where P
   #
   # only works for manifold which have an identity (eg groups)
+  # @show M
+  # @show pt
   ϵ = identity_element(M, pt)
   vee(M, ϵ, log(M, ϵ, pt))
 end

src/services/ManifoldKernelDensity.jl

@@ -228,17 +228,17 @@ end
 
 
 # TODO check that partials / marginals are sampled correctly
-function sample(x::ManifoldKernelDensity{M,B,L,P}, N::Int) where {M,B,L,P}
+function sample(x::ManifoldKernelDensity{M,B,L,P}, p::T=mean(x), as_tangent::Bool=true) where {M,B,L,P,T}
   # get legacy matrix of coordinates and selected labels
-  coords, lbls = sample(x.belief, N)
+  coords, lbls = sample(x.belief,1)
 
-  # pack samples into vector of point type P
-  vecP = Vector{P}(undef, N)
-  for j in 1:N
-    vecP[j] = makePointFromCoords(x.manifold, view(coords, :, j), x._u0)
+  X = hat(x.manifold, p, coords)
+  if as_tangent
+    return X, lbls
   end
 
-  vecP, lbls
+  # or return full point
+  return exp(x.manifold, p, X), lbls
 end
 
 Random.rand(mkd::ManifoldKernelDensity, N::Integer=1) = sample(mkd, N)[1]