switch defVariable to Manifolds.jl

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.12.0"
+version = "0.13.0"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -12,6 +12,7 @@ JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
 LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+ManifoldsBase = "3362f125-f0bb-47a3-aa74-596ffd7ef2fb"
 Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
@@ -29,6 +30,7 @@ DocStringExtensions = "0.8, 0.9, 0.10, 1"
 JSON = "0.21"
 JSON2 = "0.3.1"
 LightGraphs = "1.2, 1.3"
+ManifoldsBase = "0.10"
 Neo4j = "2"
 Pkg = "1.4, 1.5"
 Reexport = "0.2, 0.3, 0.4, 0.5, 1"
@@ -39,8 +41,9 @@ julia = "1.4"
 
 [extras]
 GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
+Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Test", "GraphPlot", "Pkg"]
+test = ["Test", "GraphPlot", "Manifolds", "Pkg"]

src/DistributedFactorGraphs.jl

@@ -29,6 +29,11 @@ using SparseArrays
 using UUIDs
 using Pkg
 
+# used for @defVariable
+import ManifoldsBase
+import ManifoldsBase: Manifold, manifold_dimension
+export Manifold, manifold_dimension
+
 import Base: getindex
 
 

src/services/DFGVariable.jl

@@ -77,14 +77,21 @@ Example:
 DFG.@defVariable Pose2 3 (:Euclid, :Euclid, :Circular)
 ```
 """
-macro defVariable(structname, dimension::Int, manifolds)#::Vararg{Symbol})#NTuple{dimension, Symbol})
+macro defVariable(structname, manifold) #::Vararg{Symbol})#NTuple{dimension, Symbol})
     # :(struct $structname <: InferenceVariable end)
     return esc(quote
         Base.@__doc__ struct $structname <: InferenceVariable end
-        DistributedFactorGraphs.getDimension(::$structname) = $dimension
-        DistributedFactorGraphs.getManifolds(::$structname) = $manifolds
+        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
+
 ##------------------------------------------------------------------------------
 ## solvedCount
 ##------------------------------------------------------------------------------

test/testBlocks.jl

@@ -1,6 +1,7 @@
 using DistributedFactorGraphs
 using Test
 using Dates
+using Manifolds
 
 import Base: convert
 
@@ -11,13 +12,18 @@ import Base: convert
 #     TestVariableType1() = new(1,(:Euclid,))
 # end
 
-DFG.@defVariable TestVariableType1 1 (:Euclid,)
 
-struct TestVariableType2 <: InferenceVariable
-    dims::Int
-    manifolds::Tuple{Symbol, Symbol}
-    TestVariableType2() = new(2,(:Euclid,:Circular,))
-end
+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,)
+
+# struct TestVariableType2 <: InferenceVariable
+#     dims::Int
+#     manifolds::Tuple{Symbol, Symbol}
+#     TestVariableType2() = new(2,(:Euclid,:Circular,))
+# end
 
 
 struct TestFunctorInferenceType1 <: AbstractRelative end