Merge pull request #1851 from JuliaRobotics:24Q4/maint/manidiff4

update for ManifoldDiff v0.4 backend

Author: dehann

Project.toml

@@ -84,10 +84,10 @@ Interpolations = "0.15"
 JSON3 = "1"
 KernelDensityEstimate = "0.5.6"
 LinearAlgebra = "1.10"
-ManifoldDiff = "0.3"
+ManifoldDiff = "0.3, 0.4"
 Manifolds = "0.10"
 ManifoldsBase = "0.15"
-Manopt = "0.4.40, 0.5"
+Manopt = "^0.5.3"
 MetaGraphs = "0.7, 0.8"
 Optim = "1"
 OrderedCollections = "1"

src/parametric/services/ParametricOptim.jl

@@ -8,7 +8,11 @@ function optimizeManifold_FD(
 )
   # finitediff setup
   r_backend = ManifoldDiff.TangentDiffBackend(
-    ManifoldDiff.FiniteDifferencesBackend()
+    if v"0.4" <=  pkgversion(ManifoldDiff)
+      ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
+    else
+      ManifoldDiff.FiniteDifferencesBackend()
+    end
   )
 
   ## finitediff gradient (non-manual)

src/services/FactorGradients.jl

@@ -6,7 +6,13 @@ function factorJacobian(
   fg,
   faclabel::Symbol,
   p0 = ArrayPartition(first.(getVal.(fg, getVariableOrder(fg, faclabel), solveKey = :parametric))...),
-  backend = ManifoldDiff.TangentDiffBackend(ManifoldDiff.FiniteDiffBackend()),
+  backend = ManifoldDiff.TangentDiffBackend(
+    if v"0.4" <=  pkgversion(ManifoldDiff)
+      ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
+    else
+      ManifoldDiff.FiniteDifferencesBackend()
+    end
+  )
 )
 
   fac = getFactor(fg, faclabel)

test/manifolds/factordiff.jl

@@ -97,11 +97,15 @@ function resid_SE2(X, p, q)
 end
 
 
+# finitediff setup
 # finitediff setup
 r_backend = ManifoldDiff.TangentDiffBackend(
-  ManifoldDiff.FiniteDifferencesBackend()
+  if v"0.4" <=  pkgversion(ManifoldDiff)
+    ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
+  else
+    ManifoldDiff.FiniteDifferencesBackend()
+  end
 )
-
 Me = Euclidean(3)
 
 function _factorJac!(J, z, p1, p2)
@@ -123,9 +127,15 @@ J_ = _factorJac!(J, z, p1, p2)
 # @profview _factorJac!(J, z, p1, p2)
 
 if false
+  # finitediff setup
   z_backend = ManifoldDiff.TangentDiffBackend(
-    ManifoldDiff.ZygoteDiffBackend()
+    if v"0.4" <=  pkgversion(ManifoldDiff)
+      ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
+    else
+      ManifoldDiff.FiniteDifferencesBackend()
+    end
   )
+
   g = ManifoldDiff.jacobian(M, Euclidean(3), f_SE2_x0, p1, z_backend)
 else
   @info "ManifoldDiff.ZygoteDiffBackend usage still under development (23Q3)"

test/manifolds/manifolddiff.jl

@@ -13,7 +13,11 @@ import Rotations as _Rot
 
 # finitediff setup
 r_backend = ManifoldDiff.TangentDiffBackend(
+  if v"0.4" <=  pkgversion(ManifoldDiff)
+    ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
+  else
     ManifoldDiff.FiniteDifferencesBackend()
+  end
 )
 
 ##