Merge pull request #1795 from JuliaRobotics/23Q4/fix/1763

fix cmember on AMD.jl ccolamd

Author: dehann

ext/IncrInfrApproxMinDegreeExt.jl

@@ -40,7 +40,9 @@ function _ccolamd!(
   for i in eachindex(p)
     p[i] -= 1
   end
-  err = AMD.ccolamd_l( # ccolamd_l
+  # BSD-3 clause, (c) Davis, Rajamanickam, Larimore
+  # https://github.com/DrTimothyAldenDavis/SuiteSparse/blob/f98e0f5a69acb6a3fb19703ff266100d43491935/LICENSE.txt#L153
+  err = AMD.ccolamd_l(
     n_row,
     n_col,
     Alen,
@@ -69,7 +71,7 @@ function _ccolamd!(
   A::AbstractVector{T1}, #SuiteSparse_long},
   p::AbstractVector{<:Real}, # {SuiteSparse_long},
   cmember::Union{Ptr{Nothing}, <:AbstractVector{T}}, # SuiteSparse_long
-) where {T1<:Real, T}
+) where {T1<:Real, T<:Integer}
   n_col = length(p) - 1
 
   if length(cmember) != n_col

src/services/BayesNet.jl

@@ -43,13 +43,13 @@ function getEliminationOrder(
     q, r, p = qr(A, (v"1.7" <= VERSION ? ColumnNorm() : Val(true)))
     p .= p |> reverse
   elseif ordering == :ccolamd
-    cons = zeros(length(adjMat.colptr) - 1)
+    cons = zeros(Int, length(adjMat.colptr) - 1)
     cons[findall(x -> x in constraints, permuteds)] .= 1
     p = _ccolamd(adjMat, cons)
       # cons = zeros(SuiteSparse_long, length(adjMat.colptr) - 1)
       # cons[findall(x -> x in constraints, permuteds)] .= 1
       # p = Ccolamd.ccolamd(adjMat, cons)
-    @warn "Integration via AMD.ccolamd under development and replaces pre-Julia 1.9 direct ccall approach."
+    @warn "Integration via AMD.ccolamd under development and replaces pre-Julia 1.9 direct ccall approach." maxlog=5
   else
     @error("getEliminationOrder -- cannot do the requested ordering $(ordering)")
   end

test/testCcolamdOrdering.jl

@@ -8,25 +8,24 @@ using Test
 
 fg = generateGraph_Kaess(graphinit=false)
 
+vo = getEliminationOrder(fg, constraints=[:x3], ordering=:ccolamd)
 
-try
-  vo = getEliminationOrder(fg, constraints=[:x3], ordering=:ccolamd)
+@test vo[end] == :x3
+@test length(vo) == length(ls(fg))
 
-  @test vo[end] == :x3
-  @test length(vo) == length(ls(fg))
+vo = getEliminationOrder(fg, constraints=[:l2], ordering=:ccolamd)
 
-  vo = getEliminationOrder(fg, constraints=[:l2], ordering=:ccolamd)
+@test vo[end] == :l2
 
-  @test vo[end] == :l2
 
+vo = getEliminationOrder(fg, constraints=[:x3;:l2], ordering=:ccolamd)
 
-  vo = getEliminationOrder(fg, constraints=[:x3;:l2], ordering=:ccolamd)
+@test intersect(vo[end-1:end], [:x3;:l2]) |> length == 2
 
-  @test intersect(vo[end-1:end], [:x3;:l2]) |> length == 2
-catch
-  @error "IncrInfrApproxMinDegreeExt test issue, work needed for Julia 1.10 compat via AMD.jl"
-  @test_broken false
-end
+  # catch
+#   @error "IncrInfrApproxMinDegreeExt test issue, work needed for Julia 1.10 compat via AMD.jl"
+#   @test_broken false
+# end
 
 ##
 end