Merge branch 'develop' into compathelper/new_version/2024-12-16-01-29-36-851-03729983492

Author: dehann

.github/workflows/ci.yml

@@ -64,7 +64,7 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: actions/cache@v1
+      - uses: actions/cache@v4
         env:
           cache-name: cache-artifacts
         with:
@@ -81,8 +81,8 @@ jobs:
         env:
           IIF_TEST_GROUP: ${{ matrix.group }}
         run: |
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="master"));'
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="master"));' 
+          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));'
+          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"));' 
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("IncrementalInference"; coverage=false)'
         shell: bash
 
@@ -106,7 +106,7 @@ jobs:
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: actions/cache@v1
+      - uses: actions/cache@v4
         env:
           cache-name: cache-artifacts
         with:
@@ -123,8 +123,8 @@ jobs:
         env:
           IIF_TEST_GROUP: ${{ matrix.group }}
         run: |
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="master"));'
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="master"));' 
+          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));'
+          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"));' 
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("IncrementalInference"; coverage=false)'
         shell: bash
 

Project.toml

@@ -8,6 +8,7 @@ version = "0.35.6"
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
 BSON = "fbb218c0-5317-5bc6-957e-2ee96dd4b1f0"
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
+CliqueTrees = "60701a23-6482-424a-84db-faee86b9b1f8"
 Combinatorics = "861a8166-3701-5b0c-9a16-15d98fcdc6aa"
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
@@ -67,6 +68,7 @@ IncrInfrInterpolationsExt = "Interpolations"
 AMD = "0.5"
 ApproxManifoldProducts = "0.9"
 BSON = "0.2, 0.3"
+CliqueTrees = "0.5"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
 DelimitedFiles = "1"
@@ -77,7 +79,7 @@ DocStringExtensions = "0.8, 0.9"
 FileIO = "1"
 FiniteDiff = "2"
 FiniteDifferences = "0.12"
-Flux = "0.14, 0.16"
+Flux = "0.14, 0.15, 0.16"
 FunctionalStateMachine = "0.2.9, 0.3"
 Gadfly = "1"
 Interpolations = "0.15"
@@ -86,7 +88,7 @@ KernelDensityEstimate = "0.5.6"
 LinearAlgebra = "1.10"
 ManifoldDiff = "0.3, 0.4"
 Manifolds = "0.10"
-ManifoldsBase = "0.15"
+ManifoldsBase = "0.15, 1"
 Manopt = "^0.5.3"
 MetaGraphs = "0.7, 0.8"
 Optim = "1"

src/IncrementalInference.jl

@@ -2,6 +2,8 @@ module IncrementalInference
 
 # @info "Multithreaded  convolutions possible, Threads.nthreads()=$(Threads.nthreads()).  See `addFactor!(.;threadmodel=MultiThreaded)`."
 
+import CliqueTrees
+
 using Distributed
 using Reexport
 

src/services/BayesNet.jl

@@ -50,6 +50,18 @@ function getEliminationOrder(
       # cons[findall(x -> x in constraints, permuteds)] .= 1
       # p = Ccolamd.ccolamd(adjMat, cons)
     @warn "Integration via AMD.ccolamd under development and replaces pre-Julia 1.9 direct ccall approach." maxlog=5
+  elseif ordering == :mcs
+    # maximum cardinality search
+    A = adjMat
+    p, _ = CliqueTrees.permutation(A'A; alg=CliqueTrees.MCS())
+  elseif ordering == :rcm
+    # reverse Cuthill-Mckee
+    A = adjMat
+    p, _ = CliqueTrees.permutation(A'A; alg=CliqueTrees.RCM())
+  elseif ordering == :mmd
+    # multiple minimum degree
+    A = adjMat
+    p, _ = CliqueTrees.permutation(A'A; alg=CliqueTrees.MMD())
   else
     @error("getEliminationOrder -- cannot do the requested ordering $(ordering)")
   end

test/runtests.jl

@@ -15,8 +15,8 @@ if TEST_GROUP in ["all", "basic_functional_group"]
 include("testSpecialEuclidean2Mani.jl")
 include("testEuclidDistance.jl")
 # gradient / jacobian tests
-include("manifolds/manifolddiff.jl")
-include("manifolds/factordiff.jl")
+#include("manifolds/manifolddiff.jl")
+#include("manifolds/factordiff.jl")
 @error "Gradient tests must be updated and restored for new ccw.varValsAll[]"
 #include("testGradientUtils.jl")
 #include("testFactorGradients.jl")
@@ -66,6 +66,7 @@ include("testStateMachine.jl")
 include("testBasicCSM.jl")
 include("testCliqueFactors.jl")
 include("testCcolamdOrdering.jl")
+include("testCliqueTreesOrderings.jl")
 include("testBasicGraphs.jl")
 include("testJointEnforcement.jl")
 include("testHasPriors913.jl")

test/testCcolamdOrdering.jl

@@ -28,4 +28,4 @@ vo = getEliminationOrder(fg, constraints=[:x3;:l2], ordering=:ccolamd)
 # end
 
 ##
-end
+end

test/testCliqueTreesOrderings.jl

@@ -0,0 +1,21 @@
+using AMD
+using IncrementalInference
+using Test
+
+@testset "Test mcs, rcm, and mmd orderings" begin
+
+fg = generateGraph_Kaess(graphinit=false)
+
+vo = getEliminationOrder(fg, ordering=:mcs)
+@test length(vo) == length(Set(vo))
+@test length(vo) == length(ls(fg))
+
+vo = getEliminationOrder(fg, ordering=:rcm)
+@test length(vo) == length(Set(vo))
+@test length(vo) == length(ls(fg))
+
+vo = getEliminationOrder(fg, ordering=:mmd)
+@test length(vo) == length(Set(vo))
+@test length(vo) == length(ls(fg))
+
+end