Merge pull request #1340 from JuliaRobotics/21Q3/enh/predictBelief

file cleanup and standarization, towards propagateBelief

Author: dehann

Project.toml

@@ -43,7 +43,7 @@ TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
 [compat]
-ApproxManifoldProducts = "0.4.11"
+ApproxManifoldProducts = "0.4.12"
 BSON = "0.2, 0.3"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"

src/DefaultNodeTypes.jl

@@ -1,8 +1,5 @@
 
-
-
-
-##
+## TBD, will be redone together with fixes for #1010
 
 """
     $SIGNATURES

src/Deprecated.jl

@@ -25,6 +25,15 @@ end
 ## Deprecate code below before v0.27
 ##==============================================================================
 
+
+# function prtslperr(s)
+#   println(s)
+#   sleep(0.1)
+#   error(s)
+# end
+
+@deprecate getKDE(w...;kw...) getBelief(w...;kw...)
+
 @deprecate findRelatedFromPotential(w...;kw...) (calcProposalBelief(w...;kw...),)
 
 # function generateNullhypoEntropy( val::AbstractMatrix{<:Real},
@@ -133,6 +142,29 @@ end
 ## Deprecate code below before v0.26
 ##==============================================================================
 
+# wow, that was quite far off -- needs testing
+# function factorCanInitFromOtherVars(dfg::T,
+#                                     fct::Symbol,
+#                                     loovar::Symbol)::Tuple{Bool, Vector{Symbol}, Vector{Symbol}} where T <: AbstractDFG
+#   #
+#   # all variables attached to this factor
+#   varsyms = getNeighbors(dfg, fct)
+#
+#   # list of factors to use in init operation
+#   useinitfct = Symbol[]
+#   faillist = Symbol[]
+#   for vsym in varsyms
+#     xi = DFG.getVariable(dfg, vsym)
+#     if (isInitialized(xi) && sum(useinitfct .== fct) == 0 ) || length(varsyms) == 1
+#       push!(useinitfct, fct)
+#     end
+#   end
+#
+#   return (length(useinitfct)==length(varsyms)&&length(faillist)==0,
+#           useinitfct,
+#           faillist   )
+# end
+
 @deprecate calcPerturbationFromVariable( fgc::FactorGradientsCached!, fromVar::Int, infoPerCoord::AbstractVector;tol::Real=0.02*fgc._h ) calcPerturbationFromVariable(fgc, [fromVar => infoPerCoord;], tol=tol )
 
 function getVal(vA::Vector{<:DFGVariable}, solveKey::Symbol=:default)

src/FGOSUtils.jl

@@ -152,7 +152,10 @@ function manikde!(pts::AbstractVector{P},
                   vartype::Union{InstanceType{<:InferenceVariable}, InstanceType{<:AbstractFactor}}) where P
   #
   M = getManifold(vartype)
-  infoPerCoord=ones(AMP.getNumberCoords(M, pts[1]))
+  # @info "WHAT" vartype, M
+  # @show pts[1]
+  # @show manifold_dimension(M)
+  infoPerCoord=ones(manifold_dimension(M))
   return AMP.manikde!(M, pts, infoPerCoord=infoPerCoord)
 end