update for LevenbergMarquardt kwargs

Author: Affie

Project.toml

@@ -67,6 +67,7 @@ KernelDensityEstimate = "0.5.6"
 ManifoldDiff = "0.3"
 Manifolds = "0.8.15"
 ManifoldsBase = "0.13.12, 0.14"
+Manopt = "0.4.27"
 MetaGraphs = "0.7"
 NLSolversBase = "7.6"
 NLsolve = "3, 4"

src/ParametricManoptDev.jl

@@ -174,6 +174,7 @@ function solve_RLM(
   fg,
   frontals::Vector{Symbol} = ls(fg),
   separators::Vector{Symbol} = setdiff(ls(fg), frontals);
+  kwargs...
 )
 
   # get the subgraph formed by all frontals, separators and fully connected factors
@@ -226,7 +227,7 @@ function solve_RLM(
   p0 = deepcopy(fro_p)
 
   initial_residual_values = zeros(num_components)
-  initial_jacF = zeros(num_components, manifold_dimension(MM))
+  initial_jacobian_f = zeros(num_components, manifold_dimension(MM))
 # 
   #HEX solve
   # sparse J 0.025235 seconds (133.65 k allocations: 9.964 MiB
@@ -240,13 +241,14 @@ function solve_RLM(
     num_components;
     evaluation=InplaceEvaluation(),
     initial_residual_values,
-    initial_jacF,
+    initial_jacobian_f,
+    kwargs...
   )
 
   return vartypeslist, lm_r
 end
 
-function solve_RLM_sparse(fg)
+function solve_RLM_sparse(fg; kwargs...)
 
   # get the subgraph formed by all frontals, separators and fully connected factors
   varlabels = ls(fg)
@@ -309,6 +311,7 @@ function solve_RLM_sparse(fg)
     evaluation=InplaceEvaluation(),
     initial_residual_values,
     initial_jacobian_f,
+    kwargs...
   )
 
   return vartypeslist, lm_r

src/services/GraphInit.jl

@@ -351,7 +351,7 @@ function initVariable!(
   if solveKey == :parametric
     μ, iΣ = getMeasurementParametric(samplable_belief)
     vnd = getSolverData(variable, solveKey)
-    vnd.val[1] .= getPoint(getVariableType(variable), μ)
+    vnd.val[1] = getPoint(getVariableType(variable), μ)
     vnd.bw .= inv(iΣ)
   else
     points = [samplePoint(M, samplable_belief) for _ = 1:N]