test defVariable

Author: dehann

src/services/DFGVariable.jl

@@ -63,24 +63,39 @@ getVariableType(dfg::AbstractDFG, lbl::Symbol) = getVariableType(getVariable(dfg
 Interface function to return the `variableType` dimension of an InferenceVariable, extend this function for all Types<:InferenceVariable.
 """
 function getDimension end
+"""
+    $SIGNATURES
+Interface function to return the `<:ManifoldsBase.Manifold` object of `variableType<:InferenceVariable`, extend this function for all `Types<:InferenceVariable`.
+"""
+function getManifold end
+
 """
     $SIGNATURES
 Interface function to return the `variableType` manifolds of an InferenceVariable, extend this function for all Types<:InferenceVariable.
 """
 function getManifolds end
 
 """
-   @defVariable StructName dimension manifolds
-A macro to create a new variable with name `StructName`, dimension and manifolds.
+    @defVariable StructName manifolds<:ManifoldsBase.Manifold
+
+A macro to create a new variable with name `StructName` and manifolds.  Note that 
+the `manifolds` is an object and *must* be a subtype of `ManifoldsBase.Manifold`.
+See documentation in [Manifolds.jl on making your own](https://juliamanifolds.github.io/Manifolds.jl/stable/examples/manifold.html). 
+
 Example:
 ```
-DFG.@defVariable Pose2 3 (:Euclid, :Euclid, :Circular)
+DFG.@defVariable Pose2 SpecialEuclidean(2)
 ```
 """
-macro defVariable(structname, manifold) #::Vararg{Symbol})#NTuple{dimension, Symbol})
-    # :(struct $structname <: InferenceVariable end)
+macro defVariable(structname, manifold)
     return esc(quote
         Base.@__doc__ struct $structname <: InferenceVariable end
+
+        @assert ($manifold isa Manifold) "@defVariable of "*string($structname)*" requires that the "*string($manifold)*" be a subtype of `ManifoldsBase.Manifold`"
+
+        # user manifold must be a <:Manifold
+        Base.convert(::Type{<:Manifold}, ::Union{<:T, Type{<:T}}) where {T <: $structname} = $manifold 
+
         getManifold(::Type{M}) where {M <: $structname} = $manifold
         getManifold(::M) where {M <: $structname} = getManifold(M)
 

test/runtests.jl

@@ -21,6 +21,10 @@ using UUIDs
 # logger = SimpleLogger(stdout, Logging.Debug)
 # global_logger(logger)
 
+@testset "Check @defVariable design" begin
+    include("test_defVariable.jl")
+end
+
 include("testBlocks.jl")
 
 @testset "Test generated ==" begin

test/testBlocks.jl

@@ -16,8 +16,8 @@ import Base: convert
 Base.convert(::Type{<:Tuple}, ::typeof(Euclidean(1))) = (:Euclid,)
 Base.convert(::Type{<:Tuple}, ::typeof(Euclidean(2))) = (:Euclid, :Euclid)
 
-DFG.@defVariable TestVariableType1 Euclidean(1) # 1 (:Euclid,)
-DFG.@defVariable TestVariableType2 Euclidean(2) # 1 (:Euclid,)
+@defVariable TestVariableType1 Euclidean(1)
+@defVariable TestVariableType2 Euclidean(2)
 
 # struct TestVariableType2 <: InferenceVariable
 #     dims::Int

test/test_defVariable.jl

@@ -0,0 +1,81 @@
+
+using ManifoldsBase, Manifolds
+using Test
+
+# abstract type InferenceVariable end
+
+##
+
+Base.convert(::Type{<:Tuple}, ::typeof(Euclidean(1))) = (:Euclid,)
+Base.convert(::Type{<:Tuple}, ::typeof(Euclidean(2))) = (:Euclid, :Euclid)
+
+##
+
+macro defVariable(structname, manifold)
+  return esc(quote
+      Base.@__doc__ struct $structname <: InferenceVariable end
+
+      @assert ($manifold isa Manifold) "@defVariable of "*string($structname)*" requires that the "*string($manifold)*" be a subtype of `ManifoldsBase.Manifold`"
+
+      # manifold must be is a <:Manifold
+      Base.convert(::Type{<:Manifold}, ::Union{<:T, Type{<:T}}) where {T <: $structname} = $manifold 
+
+      getManifold(::Type{M}) where {M <: $structname} = $manifold
+      getManifold(::M) where {M <: $structname} = getManifold(M)
+      
+      getDimension(::Type{M}) where {M <: $structname} = manifold_dimension(getManifold(M))
+      getDimension(::M) where {M <: $structname} = manifold_dimension(getManifold(M))
+      # FIXME legacy API to be deprecated
+      getManifolds(::Type{M}) where {M <: $structname} = convert(Tuple, $manifold)
+      getManifolds(::M) where {M <: $structname} = convert(Tuple, $manifold)
+  end)
+end
+
+
+##
+
+
+ex = macroexpand(Main, :(@defVariable(TestVariableType1, Euclidean(1))) )
+
+
+##
+
+struct NotAManifold end
+
+try
+  @defVariable(MyVar, NotAManifold())
+catch AssertionError
+  @test true
+end
+
+##
+
+@defVariable(TestVariableType1, Euclidean(1))
+@defVariable(TestVariableType2, Euclidean(2))
+
+
+##
+
+@test getManifold( TestVariableType1) == Euclidean(1)
+@test getManifold( TestVariableType2) == Euclidean(2)
+
+# legacy
+@test getManifolds(TestVariableType1) == (:Euclid,)
+@test getDimension(TestVariableType1) === 1
+@test getManifolds(TestVariableType2) == (:Euclid,:Euclid)
+@test getDimension(TestVariableType2) === 2
+
+##
+
+
+@test getManifold( TestVariableType1()) == Euclidean(1)
+@test getManifold( TestVariableType2()) == Euclidean(2)
+
+# legacy
+@test getManifolds(TestVariableType1()) == (:Euclid,)
+@test getDimension(TestVariableType1()) === 1
+@test getManifolds(TestVariableType2()) == (:Euclid,:Euclid)
+@test getDimension(TestVariableType2()) === 2
+
+
+##