Merge pull request #794 from JuliaRobotics/master

v0.15.1-rc1

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.15.0"
+version = "0.15.1"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/services/CompareUtils.jl

@@ -236,13 +236,14 @@ function compareFactor(A::DFGFactor,
                        skipsamples::Bool=true,
                        skipcompute::Bool=true  )
   #
-  TP =  compareAll(A, B, skip=union([:attributes;:solverData;:_variableOrderSymbols],skip), show=show)
+  skip_ = 
+  TP =  compareAll(A, B, skip=union([:attributes;:solverData;:_variableOrderSymbols;:_gradients],skip), show=show)
   # TP = TP & compareAll(A.attributes, B.attributes, skip=[:data;], show=show)
-  TP = TP & compareAllSpecial(getSolverData(A), getSolverData(B), skip=union([:fnc], skip), show=show)
+  TP = TP & compareAllSpecial(getSolverData(A), getSolverData(B), skip=union([:fnc;:_gradients], skip), show=show)
   if :fnc in skip
     return TP
   end
-  TP = TP & compareAllSpecial(getSolverData(A).fnc, getSolverData(B).fnc, skip=union([:cpt;:measurement;:params;:varidx;:threadmodel], skip), show=show)
+  TP = TP & compareAllSpecial(getSolverData(A).fnc, getSolverData(B).fnc, skip=union([:cpt;:measurement;:params;:varidx;:threadmodel;:_gradients], skip), show=show)
   if !(:measurement in skip)
   TP = TP & (skipsamples || compareAll(getSolverData(A).fnc.measurement, getSolverData(B).fnc.measurement, show=show, skip=skip))
   end

src/services/DFGVariable.jl

@@ -159,10 +159,10 @@ Related
 
 [`getCoordinates`](@ref)
 """
-function getPoint(::Type{T}, v::AbstractVector) where {T <: InferenceVariable}
+function getPoint(::Type{T}, v::AbstractVector, basis=ManifoldsBase.DefaultOrthogonalBasis()) where {T <: InferenceVariable}
     M = getManifold(T)
     p0 = getPointIdentity(T)
-    X = ManifoldsBase.get_vector(M, p0, v, ManifoldsBase.DefaultOrthonormalBasis())
+    X = ManifoldsBase.get_vector(M, p0, v, basis)
     ManifoldsBase.exp(M, p0, X)
 end
 
@@ -179,11 +179,11 @@ Related
 
 [`getPoint`](@ref)
 """
-function getCoordinates(::Type{T}, p) where {T <: InferenceVariable}
+function getCoordinates(::Type{T}, p, basis=ManifoldsBase.DefaultOrthogonalBasis()) where {T <: InferenceVariable}
     M = getManifold(T)
     p0 = getPointIdentity(T)
     X = ManifoldsBase.log(M, p0, p)
-    ManifoldsBase.get_coordinates(M, p0, X, ManifoldsBase.DefaultOrthonormalBasis())
+    ManifoldsBase.get_coordinates(M, p0, X, basis)
 end
 
 

src/services/Serialization.jl

@@ -150,12 +150,12 @@ function unpackVariable(dfg::G,
     ppeDict = unpackPPEs ? JSON2.read(packedProps["ppeDict"], Dict{Symbol, MeanMaxPPE}) : Dict{Symbol, MeanMaxPPE}()
     smallData = JSON2.read(packedProps["smallData"], Dict{Symbol, SmallDataTypes})
 
-    if haskey(packedProps, "softtype")
+    variableTypeString = if haskey(packedProps, "softtype")
         # TODO Deprecate, remove in v0.12
         @warn "Packed field `softtype` is deprecated and replaced with `variableType`"
-        variableTypeString = packedProps["softtype"]
+        packedProps["softtype"]
     else
-        variableTypeString = packedProps["variableType"]
+        packedProps["variableType"]
     end
 
     variableType = getTypeFromSerializationModule(variableTypeString)
@@ -220,7 +220,7 @@ end
 # returns a PackedVariableNodeData
 function packVariableNodeData(::G, d::VariableNodeData{T}) where {G <: AbstractDFG, T <: InferenceVariable}
   @debug "Dispatching conversion variable -> packed variable for type $(string(d.variableType))"
-#   @show d.val
+  # TODO change to Vector{Vector{Float64}} which can be directly packed by JSON
   castval = if 0 < length(d.val)
     precast = getCoordinates.(T, d.val)
     @cast castval[i,j] := precast[j][i]
@@ -315,12 +315,12 @@ function packFactor(dfg::G, f::DFGFactor)::Dict{String, Any} where G <: Abstract
 end
 
 function decodePackedType(::Type{T}, packeddata::GenericFunctionNodeData{PT}) where {T<:FactorOperationalMemory, PT}
-  # usrtyp = convert(FunctorInferenceType, packeddata.fnc)
-  # Also look at parentmodule
-  usrtyp = convertStructType(PT)
-  fulltype = DFG.FunctionNodeData{T{usrtyp}}
-  factordata = convert(fulltype, packeddata)
-  return factordata
+    # usrtyp = convert(FunctorInferenceType, packeddata.fnc)
+    # Also look at parentmodule
+    usrtyp = convertStructType(PT)
+    fulltype = DFG.FunctionNodeData{T{usrtyp}}
+    factordata = convert(fulltype, packeddata)
+    return factordata
 end
 
 

test/test_defVariable.jl

@@ -25,6 +25,11 @@ struct NotAManifold end
 
 @test getPointType(TestVarType1) == Vector{Float64}
 @test getPointType(TestVarType2) == ProductRepr{Tuple{Vector{Float64}, Matrix{Float64}}}
+
+@test getPointIdentity(TestVarType1) == zeros(3)
+@test getPointIdentity(TestVarType2).parts[1] == ProductRepr(zeros(3), diagm(ones(3))).parts[1]
+@test getPointIdentity(TestVarType2).parts[2] == ProductRepr(zeros(3), diagm(ones(3))).parts[2]
+
 ##
 
 
@@ -37,4 +42,8 @@ struct NotAManifold end
 @test getPointType(TestVarType1()) == Vector{Float64}
 @test getPointType(TestVarType2()) == ProductRepr{Tuple{Vector{Float64}, Matrix{Float64}}}
 
+@test getPointIdentity(TestVarType1()) == zeros(3)
+@test getPointIdentity(TestVarType2()).parts[1] == ProductRepr(zeros(3), diagm(ones(3))).parts[1]
+@test getPointIdentity(TestVarType2()).parts[2] == ProductRepr(zeros(3), diagm(ones(3))).parts[2]
+
 end