Merge pull request #1350 from JuliaRobotics/21Q3/fix/getmeasparam_ascoord

more cleanup, rm getManifolds

Author: dehann

.github/workflows/ci.yml

@@ -7,7 +7,7 @@ on:
       - develop
       - release**
 jobs:
-  test:
+  test-stable:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
     env:
@@ -17,7 +17,6 @@ jobs:
       matrix:
         version:
           - '1.6'
-          - 'nightly'
         os:
           - ubuntu-latest
         arch:
@@ -49,6 +48,44 @@ jobs:
         with:
           file: lcov.info
 
+  # hacky way to remove code coverage from nightly
+  test-nightly-nocov:
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
+    runs-on: ${{ matrix.os }}
+    env:
+      JULIA_PKG_SERVER: ""
+    strategy:
+      fail-fast: false
+      matrix:
+        version:
+          - 'nightly'
+        os:
+          - ubuntu-latest
+        arch:
+          - x64
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+      - uses: actions/cache@v1
+        env:
+          cache-name: cache-artifacts
+        with:
+          path: ~/.julia/artifacts
+          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+          restore-keys: |
+            ${{ runner.os }}-test-${{ env.cache-name }}-
+            ${{ runner.os }}-test-
+            ${{ runner.os }}-
+      - uses: julia-actions/julia-buildpkg@latest
+      - run: |
+          git config --global user.name Tester
+          git config --global user.email [email protected]
+      - uses: julia-actions/julia-runtest@latest
+        continue-on-error: ${{ matrix.version == 'nightly' }}
+
   upstream-dev:
     #if: github.ref != 'refs/heads/release**'
     name: Upstream Dev

src/FactorGraph.jl

@@ -288,14 +288,14 @@ function resetVariable!(varid::VariableNodeData;
   for pt in pts
     fill!(pt, 0.0)
   end
-  pn = manikde!(pts, zeros(AMP.Ndim(val)), getManifolds(varid))
+  pn = manikde!(getManifold(varid), pts, bw=zeros(Ndim(val)))
   setValKDE!(varid, pn, false, 0.0)
   # setVariableInferDim!(varid, 0)
   # setVariableInitialized!(vari, false)
   nothing
 end
 
-resetVariable!(vari::DFGVariable; solveKey::Symbol=:default  )::Nothing = resetVariable!(getSolverData(vari), solveKey=solveKey)
+resetVariable!(vari::DFGVariable; solveKey::Symbol=:default  ) = resetVariable!(getSolverData(vari), solveKey=solveKey)
 
 function resetVariable!(dfg::G,
                         sym::Symbol;
@@ -383,7 +383,6 @@ function setDefaultNodeData!( v::DFGVariable,
   sp = Int[0;]
   (valpts, bws) = if initialized
     pN = resample(getBelief(v))
-    # pN = AMP.manikde!(randn(dims, N), getManifolds(varType));
     bws = getBW(pN)[:,1:1]
     pNpts = getPoints(pN)
     isinit = true

src/ParametricUtils.jl

@@ -381,7 +381,6 @@ struct MixedCircular <: Optim.Manifold
   isCircular::BitArray
 end
 
-# FIXME getManifolds is being deprecated, use getManifold instead.
 function MixedCircular(fg::AbstractDFG, varIds::Vector{Symbol})
   circMask = Bool[]
   for k = varIds

src/TreeMessageUtils.jl

@@ -313,7 +313,7 @@ function addLikelihoodsDifferentialCHILD!(cliqSubFG::AbstractDFG,
           # calculate the general deconvolution between variables
           pts, = approxDeconv(tfg, afc.label, solveKey)  # solveFactorMeasurements
           # @show sft
-          newBel = manikde!(pts, sft) # getManifolds(sft)
+          newBel = manikde!(pts, sft)
           # replace dummy factor with real deconv factor using manikde approx belief measurement
           fullFct = _sft(newBel)
           deleteFactor!(tfg, afc.label)

src/Variables/DefaultVariables.jl

@@ -7,7 +7,7 @@ export Circular, Circle
 Base.convert(::Type{<:Tuple}, ::InstanceType{Manifolds.Euclidean{Tuple{N}, ℝ}} ) where N = tuple([:Euclid for i in 1:N]...)
 Base.convert(::Type{<:Tuple}, ::InstanceType{Manifolds.Circle{ℝ}})  = (:Circular,)
 
-# Base.convert(::Type{<:Tuple}, mani::MB.AbstractManifold) = getManifolds(mani)
+
 
 
 ## Euclid 1
@@ -22,10 +22,6 @@ DevNotes
 """
 @defVariable ContinuousScalar TranslationGroup(1) [0.0;]
 
-# Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::InstanceType{ContinuousScalar})    = Manifolds.Euclidean(1)
-
-
-## Euclid N
 
 
 """
@@ -37,10 +33,9 @@ struct ContinuousEuclid{N} <: InferenceVariable end
 ContinuousEuclid(x::Int) = ContinuousEuclid{x}()
 
 # not sure if these overloads are necessary since DFG 775?
-DFG.getManifold(::InstanceType{ContinuousEuclid{N}}) where N = TranslationGroup(N)
-# DFG.getManifold(::ContinuousEuclid{N}) where N = TranslationGroup(N)                               
+DFG.getManifold(::InstanceType{ContinuousEuclid{N}}) where N = TranslationGroup(N)                             
 DFG.getDimension(val::InstanceType{ContinuousEuclid{N}}) where N = manifold_dimension(getManifold(val))
-# DFG.getDimension(val::ContinuousEuclid{N}) where N = manifold_dimension(getManifold(val))
+
 
 DFG.getPointType(::Type{ContinuousEuclid{N}}) where N = Vector{Float64}
 DFG.getPointIdentity(M_::Type{ContinuousEuclid{N}}) where N = zeros(N) # identity_element(getManifold(M_), zeros(N)) 
@@ -60,8 +55,6 @@ Circular is a `Manifolds.Circle{ℝ}` mechanization of one rotation, with `theta
 @defVariable Circular Circle() [0.0;]
 
 
-# Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::InstanceType{Circular}) = Manifolds.Circle()
-
 
 
 #