compat DFG v0.15.1, and cleanup

Author: dehann

Project.toml

@@ -47,7 +47,7 @@ ApproxManifoldProducts = "0.4.11"
 BSON = "0.2, 0.3"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
-DistributedFactorGraphs = "0.15"
+DistributedFactorGraphs = "0.15.1"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8"
 FileIO = "1"

src/Factors/GenericFunctions.jl

@@ -71,7 +71,7 @@ export ManifoldFactor
 # For now, `Z` is on the tangent space in coordinates at the point used in the factor.
 # For groups just the lie algebra
 # As transition it will be easier this way, we can reevaluate
-struct ManifoldFactor{M <: AbstractManifold, T <: SamplableBelief} <: AbstractManifoldMinimize#AbstractFactor
+struct ManifoldFactor{M <: AbstractManifold, T <: SamplableBelief} <: AbstractManifoldMinimize #AbstractFactor
     M::M
     Z::T
 end

src/NumericalCalculations.jl

@@ -199,6 +199,7 @@ function _buildCalcFactorLambdaSample(ccwl::CommonConvWrapper,
     # slack is used to shift the residual away from the natural "zero" tension position of a factor, 
     # this is useful when calculating factor gradients at a variety of param locations resulting in "non-zero slack" of the residual.
     # see `IIF.calcFactorResidualTemporary`
+    # NOTE this minus operation assumes _slack is either coordinate or tangent vector element (not a manifold or group element)
     () -> cf( (_getindextuple(measurement_, smpid))..., (getindex.(varParams, smpid))... ) .- _slack
   end
 

src/SolverUtilities.jl

@@ -171,7 +171,7 @@ function _buildGraphByFactorAndTypes!(fct::AbstractFactor,
 
   # TODO generalize beyond binary
   len = length(varTypes)
-  vars = [Symbol(destPrefix, s_) for s_ in (currNumber .+ (1:len))]
+  vars = Symbol[Symbol(destPrefix, s_) for s_ in (currNumber .+ (1:len))]
   for (s_, vTyp) in enumerate(varTypes)
     # add the necessary variables
     exists(dfg, vars[s_]) ? nothing : addVariable!(dfg, vars[s_],  vTyp)

test/testSphereMani.jl

@@ -4,7 +4,10 @@ using Manifolds
 using StaticArrays
 using Test
 
+##
+
 @testset "Test Sphere(2) prior" begin
+##
 
 Base.convert(::Type{<:Tuple}, M::Sphere{2, ℝ}) = (:Euclid, :Euclid)
 Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{Sphere{2, ℝ}})  = (:Euclid, :Euclid)
@@ -39,7 +42,8 @@ f = addFactor!(fg, [:x0, :x1], mf)
 ##
 # Debugging Sphere error
 smtasks = Task[]
-solveTree!(fg; smtasks, verbose=true, recordcliqs=ls(fg))
+solveTree!(fg; smtasks) #, verbose=true, recordcliqs=ls(fg))
 # hists = fetchCliqHistoryAll!(smtasks);
 
+##
 end