Merge pull request #754 from JuliaRobotics/21Q2/enh/getmanifolds

remove getManifolds

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.13.1"
+version = "0.13.2"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/services/DFGVariable.jl

@@ -74,14 +74,14 @@ Interface function to return the `<:ManifoldsBase.Manifold` object of `variableT
 """
 function getManifold end
 
-"""
-    $SIGNATURES
-Interface function to return the `variableType` manifolds of an InferenceVariable, extend this function for all Types<:InferenceVariable.
-"""
-function getManifolds end
+# """
+#     $SIGNATURES
+# Interface function to return the `variableType` manifolds of an InferenceVariable, extend this function for all Types<:InferenceVariable.
+# """
+# function getManifolds end
 
-getManifolds(::Type{<:T}) where {T <: ManifoldsBase.Manifold} = convert(Tuple, T)
-getManifolds(::T) where {T <: ManifoldsBase.Manifold} = getManifolds(T)
+# getManifolds(::Type{<:T}) where {T <: ManifoldsBase.Manifold} = convert(Tuple, T)
+# getManifolds(::T) where {T <: ManifoldsBase.Manifold} = getManifolds(T)
 
 getDimension(t_::T) where {T <: ManifoldsBase.Manifold} = manifold_dimension(t_)
 
@@ -106,15 +106,15 @@ macro defVariable(structname, manifold)
         # user manifold must be a <:Manifold
         Base.convert(::Type{<:Manifold}, ::Union{<:T, Type{<:T}}) where {T <: $structname} = $manifold 
 
-        DFG.getManifold(::Type{M}) where {M <: $structname} = $manifold
-        DFG.getManifold(::M) where {M <: $structname} = getManifold(M)
+        getManifold(::Type{M}) where {M <: $structname} = $manifold
+        getManifold(::M) where {M <: $structname} = getManifold(M)
 
         DFG.getDimension(::Type{M}) where {M <: $structname} = manifold_dimension(getManifold(M))
         DFG.getDimension(::M) where {M <: $structname} = manifold_dimension(getManifold(M))
 
-        # # FIXME legacy API to be deprecated
-        DFG.getManifolds(::Type{M}) where {M <: $structname} = convert(Tuple, $manifold)
-        DFG.getManifolds(::M) where {M <: $structname} = convert(Tuple, $manifold)
+        # # # FIXME legacy API to be deprecated
+        # DFG.getManifolds(::Type{M}) where {M <: $structname} = convert(Tuple, $manifold)
+        # DFG.getManifolds(::M) where {M <: $structname} = convert(Tuple, $manifold)
     end)
 end
 

test/runtests.jl

@@ -21,9 +21,9 @@ using UUIDs
 # logger = SimpleLogger(stdout, Logging.Debug)
 # global_logger(logger)
 
-@testset "Check @defVariable design" begin
-    include("test_defVariable.jl")
-end
+# @testset "Check @defVariable design" begin
+#     include("test_defVariable.jl")
+# end
 
 include("testBlocks.jl")
 

test/testBlocks.jl

@@ -299,7 +299,7 @@ function DFGVariableSCA()
     #variableType functions
     testvar = TestVariableType1()
     @test getDimension(testvar) == 1
-    @test getManifolds(testvar) == (:Euclid,)
+    @test getManifold(testvar) == Euclidean(1)
 
     # #TODO sort out
     # getPPEs

test/test_defVariable.jl

@@ -11,6 +11,7 @@ Base.convert(::Type{<:Tuple}, ::typeof(Euclidean(2))) = (:Euclid, :Euclid)
 
 ##
 
+## WARNING, THIS IS A DUPLICATE OF THE MACRO IN DFGVariable.jl TO MAKE SURE OVERLOADS ARE WORKING RIGHT
 macro defVariable(structname, manifold)
   return esc(quote
       Base.@__doc__ struct $structname <: InferenceVariable end
@@ -26,8 +27,8 @@ macro defVariable(structname, manifold)
       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)
+      # getManifolds(::Type{M}) where {M <: $structname} = convert(Tuple, $manifold)
+      # getManifolds(::M) where {M <: $structname} = convert(Tuple, $manifold)
   end)
 end
 
@@ -60,9 +61,9 @@ end
 @test getManifold( TestVariableType2) == Euclidean(2)
 
 # legacy
-@test getManifolds(TestVariableType1) == (:Euclid,)
+# @test getManifolds(TestVariableType1) == (:Euclid,)
 @test getDimension(TestVariableType1) === 1
-@test getManifolds(TestVariableType2) == (:Euclid,:Euclid)
+# @test getManifolds(TestVariableType2) == (:Euclid,:Euclid)
 @test getDimension(TestVariableType2) === 2
 
 ##
@@ -72,9 +73,9 @@ end
 @test getManifold( TestVariableType2()) == Euclidean(2)
 
 # legacy
-@test getManifolds(TestVariableType1()) == (:Euclid,)
+# @test getManifolds(TestVariableType1()) == (:Euclid,)
 @test getDimension(TestVariableType1()) === 1
-@test getManifolds(TestVariableType2()) == (:Euclid,:Euclid)
+# @test getManifolds(TestVariableType2()) == (:Euclid,:Euclid)
 @test getDimension(TestVariableType2()) === 2