Merge pull request #771 from JuliaRobotics/master

v0.14.3-rc2

Author: dehann

Project.toml

@@ -30,7 +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, 0.11"
+ManifoldsBase = "0.11"
 Neo4j = "2"
 Pkg = "1.4, 1.5"
 Reexport = "0.2, 0.3, 0.4, 0.5, 1"

src/DistributedFactorGraphs.jl

@@ -31,8 +31,8 @@ using Pkg
 
 # used for @defVariable
 import ManifoldsBase
-import ManifoldsBase: Manifold, manifold_dimension
-export Manifold, manifold_dimension
+import ManifoldsBase: AbstractManifold, manifold_dimension
+export AbstractManifold, manifold_dimension
 
 import Base: getindex
 

src/services/DFGVariable.jl

@@ -70,7 +70,7 @@ Interface function to return the `variableType` dimension of an InferenceVariabl
 function getDimension end
 """
     $SIGNATURES
-Interface function to return the `<:ManifoldsBase.Manifold` object of `variableType<:InferenceVariable`, extend this function for all `Types<:InferenceVariable`.
+Interface function to return the `<:ManifoldsBase.AbstractManifold` object of `variableType<:InferenceVariable`, extend this function for all `Types<:InferenceVariable`.
 """
 getManifold(vari::DFGVariable) = getVariableType(vari) |> getManifold
 
@@ -80,16 +80,16 @@ getManifold(vari::DFGVariable) = getVariableType(vari) |> getManifold
 # """
 # 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.AbstractManifold} = convert(Tuple, T)
+# getManifolds(::T) where {T <: ManifoldsBase.AbstractManifold} = getManifolds(T)
 
-getDimension(t_::T) where {T <: ManifoldsBase.Manifold} = manifold_dimension(t_)
+getDimension(t_::T) where {T <: ManifoldsBase.AbstractManifold} = manifold_dimension(t_)
 
 """
-    @defVariable StructName manifolds<:ManifoldsBase.Manifold
+    @defVariable StructName manifolds<:ManifoldsBase.AbstractManifold
 
 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`.
+the `manifolds` is an object and *must* be a subtype of `ManifoldsBase.AbstractManifold`.
 See documentation in [Manifolds.jl on making your own](https://juliamanifolds.github.io/Manifolds.jl/stable/examples/manifold.html). 
 
 Example:
@@ -101,10 +101,10 @@ 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($manifold)*" be a subtype of `ManifoldsBase.Manifold`"
+        @assert ($manifold isa AbstractManifold) "@defVariable of "*string($structname)*" requires that the "*string($manifold)*" be a subtype of `ManifoldsBase.AbstractManifold`"
 
         # user manifold must be a <:Manifold
-        Base.convert(::Type{<:Manifold}, ::Union{<:T, Type{<:T}}) where {T <: $structname} = $manifold 
+        Base.convert(::Type{<:AbstractManifold}, ::Union{<:T, Type{<:T}}) where {T <: $structname} = $manifold 
 
         getManifold(::Type{M}) where {M <: $structname} = $manifold
         getManifold(::M) where {M <: $structname} = getManifold(M)

test/test_defVariable.jl

@@ -16,10 +16,10 @@ 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($manifold)*" be a subtype of `ManifoldsBase.Manifold`"
+      @assert ($manifold isa AbstractManifold) "@defVariable of "*string($structname)*" requires that the "*string($manifold)*" be a subtype of `ManifoldsBase.AbstractManifold`"
 
       # manifold must be is a <:Manifold
-      Base.convert(::Type{<:Manifold}, ::Union{<:T, Type{<:T}}) where {T <: $structname} = $manifold 
+      Base.convert(::Type{<:AbstractManifold}, ::Union{<:T, Type{<:T}}) where {T <: $structname} = $manifold 
 
       getManifold(::Type{M}) where {M <: $structname} = $manifold
       getManifold(::M) where {M <: $structname} = getManifold(M)