Merge pull request #931 from JuliaRobotics/master

release v0.18.10-rc1

Author: dehann

.github/workflows/ci.yml

@@ -20,6 +20,7 @@ jobs:
         version:
           - '1.6'
           - '1.8'
+          - '~1.9.0-0'
           - 'nightly'
         os:
           - ubuntu-latest
@@ -81,7 +82,6 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.6'
           - '1.8'
         os:
           - ubuntu-latest

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.18.9"
+version = "0.18.10"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/entities/DFGFactor.jl

@@ -8,7 +8,7 @@ abstract type AbstractPackedFactor end
 
 abstract type AbstractPrior <: AbstractFactor end
 abstract type AbstractRelative <: AbstractFactor end
-abstract type AbstractRelativeRoots <: AbstractRelative end
+abstract type AbstractRelativeRoots <: AbstractRelative end    # NOTE Cannot be used for partials
 abstract type AbstractRelativeMinimize <: AbstractRelative end
 abstract type AbstractManifoldMinimize <: AbstractRelative end # FIXME move here from IIF
 

src/services/CompareUtils.jl

@@ -234,6 +234,9 @@ end
     $SIGNATURES
 
 Compare that all fields are the same in a `::FactorGraph` factor.
+
+DevNotes
+- TODO `getSolverData(A).fnc.varValsAll / varidx` are only defined downstream, so should should this function not be in IIF?
 """
 function compareFactor(A::DFGFactor,
                        B::DFGFactor;
@@ -250,17 +253,18 @@ function compareFactor(A::DFGFactor,
   if !TP || :fnc in skip
     return TP
   end
-  TP = TP & compareAllSpecial(getSolverData(A).fnc, getSolverData(B).fnc, skip=union([:cpt;:measurement;:params;:varidx;:threadmodel;:_gradients], skip), show=show)
+  TP = TP & compareAllSpecial(getSolverData(A).fnc, getSolverData(B).fnc, skip=union([:cpt;:measurement;:params;:varValsAll;:varidx;:threadmodel;:_gradients], skip), show=show)
   @debug "compareFactor 3/5" TP
   if !(:measurement in skip)
     TP = TP & (skipsamples || compareAll(getSolverData(A).fnc.measurement, getSolverData(B).fnc.measurement, show=show, skip=skip))
   end
   @debug "compareFactor 4/5" TP
-  if !(:params in skip)
-    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.params, getSolverData(B).fnc.params, show=show, skip=skip))
+  if !(:varValsAll in skip) && hasfield(typeof(getSolverData(A).fnc), :varValsAll)
+    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varValsAll, getSolverData(B).fnc.varValsAll, show=show, skip=skip))
   end
-  if !(:varidx in skip)
-    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varidx, getSolverData(B).fnc.varidx, show=show, skip=skip))
+  @debug "compareFactor 5/5" TP
+  if !(:varidx in skip) && hasfield(typeof(getSolverData(A).fnc), :varidx) && getSolverData(A).fnc.varidx isa Base.RefValue
+    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varidx[], getSolverData(B).fnc.varidx[], show=show, skip=skip))
   end
 
   return TP

src/services/DFGVariable.jl

@@ -127,9 +127,9 @@ function getDimension end
 getDimension(::Type{T}) where {T <: InferenceVariable} = manifold_dimension(getManifold(T))
 getDimension(::T) where {T <: InferenceVariable} = manifold_dimension(getManifold(T))
 getDimension(M::ManifoldsBase.AbstractManifold) = manifold_dimension(M)
+getDimension(p::Distributions.Distribution) = length(p)
 getDimension(var::DFGVariable) = getDimension(getVariableType(var))
 
-
 """
     $SIGNATURES
 Interface function to return the manifold point type of an InferenceVariable, extend this function for all Types<:InferenceVariable.