Merge pull request #1733 from JuliaRobotics/23Q3/deps/dropabstrelroots

Drop AbstractRelativeRoots

Author: dehann

.github/workflows/ci.yml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - develop
       - release**
   workflow_dispatch:
 jobs:
@@ -55,7 +54,7 @@ jobs:
         arch: 
           - x64
         version:
-          - '1.9'
+          - '~1.10.0-0'
         group:
           - 'basic_functional_group'
     steps:
@@ -97,7 +96,7 @@ jobs:
         arch: 
           - x64
         version:
-          - '1.9'
+          - '~1.10.0-0'
         group:
           - 'test_cases_group'
     steps:

src/Deprecated.jl

@@ -124,6 +124,23 @@ end
 ## Deprecate code below before v0.35
 ##==============================================================================
 
+function _checkErrorCCWNumerics(
+  ccwl::Union{CommonConvWrapper{F}, CommonConvWrapper{Mixture{N_, F, S, T}}},
+  testshuffle::Bool = false,
+) where {N_, F <: AbstractRelativeRoots, S, T}
+  #
+  # error("<:AbstractRelativeRoots is obsolete, use one of the other <:AbstractRelative types instead.")
+  # TODO get xDim = getDimension(getVariableType(Xi[sfidx])) but without having Xi
+  if testshuffle || ccwl.partial
+    error(
+      "<:AbstractRelativeRoots factors with less or more measurement dimensions than variable dimensions have been discontinued, rather use <:AbstractManifoldMinimize.",
+    )
+  # elseif !(_getZDim(ccwl) >= ccwl.xDim && !ccwl.partial)
+  #   error("Unresolved numeric <:AbstractRelativeRoots solve case")
+  end
+  return nothing
+end
+
 # should probably deprecate the abstract type approach?
 abstract type _AbstractThreadModel end
 

src/ExportAPI.jl

@@ -30,7 +30,7 @@ export AbstractDFG,
 # Inference types
 export AbstractPackedFactor, AbstractFactor
 export AbstractPrior, AbstractRelative
-export AbstractRelativeRoots, AbstractRelativeMinimize, AbstractManifoldMinimize
+export AbstractRelativeMinimize, AbstractManifoldMinimize
 
 # not sure if this is necessary
 export convert, *

src/services/CalcFactor.jl

@@ -294,7 +294,7 @@ function _setCCWDecisionDimsConv!(
   F <: Union{
     AbstractManifoldMinimize,
     AbstractRelativeMinimize,
-    AbstractRelativeRoots,
+    # AbstractRelativeRoots,
     AbstractPrior,
   },
   S,

src/services/FactorGradients.jl

@@ -78,7 +78,7 @@ export checkGradientsToleranceMask, calcPerturbationFromVariable
 function _prepFactorGradientLambdas(
   fct::Union{
     <:AbstractRelativeMinimize,
-    <:AbstractRelativeRoots,
+    # <:AbstractRelativeRoots,
     <:AbstractManifoldMinimize,
   },
   measurement,
@@ -171,7 +171,7 @@ end
 function FactorGradientsCached!(
   fct::Union{
     <:AbstractRelativeMinimize,
-    <:AbstractRelativeRoots,
+    # <:AbstractRelativeRoots,
     <:AbstractManifoldMinimize,
   },
   varTypes::Tuple,

src/services/NumericalCalculations.jl

@@ -13,22 +13,6 @@ function _checkErrorCCWNumerics(
   return nothing
 end
 
-function _checkErrorCCWNumerics(
-  ccwl::Union{CommonConvWrapper{F}, CommonConvWrapper{Mixture{N_, F, S, T}}},
-  testshuffle::Bool = false,
-) where {N_, F <: AbstractRelativeRoots, S, T}
-  #
-  # error("<:AbstractRelativeRoots is obsolete, use one of the other <:AbstractRelative types instead.")
-  # TODO get xDim = getDimension(getVariableType(Xi[sfidx])) but without having Xi
-  if testshuffle || ccwl.partial
-    error(
-      "<:AbstractRelativeRoots factors with less or more measurement dimensions than variable dimensions have been discontinued, rather use <:AbstractManifoldMinimize.",
-    )
-  # elseif !(_getZDim(ccwl) >= ccwl.xDim && !ccwl.partial)
-  #   error("Unresolved numeric <:AbstractRelativeRoots solve case")
-  end
-  return nothing
-end
 
 function _perturbIfNecessary(
   fcttype::Union{F, <:Mixture{N_, F, S, T}},

src/services/RequireInteractiveUtils.jl

@@ -14,7 +14,7 @@ Return all factors currently registered in the workspace.
 function getCurrentWorkspaceFactors()
   return [
     InteractiveUtils.subtypes(AbstractPrior)...,
-    InteractiveUtils.subtypes(AbstractRelativeRoots)...,
+    # InteractiveUtils.subtypes(AbstractRelativeRoots)...,
     InteractiveUtils.subtypes(AbstractRelativeMinimize)...,
   ]
 end