Skip to content

sampleTangent and samplePoint #1359

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 2 commits into from
Aug 21, 2021
Merged

sampleTangent and samplePoint #1359

merged 2 commits into from
Aug 21, 2021

Conversation

@Affie
Copy link
Member

@Affie Affie commented Aug 20, 2021 •
edited
Loading

In place of JuliaRobotics/ApproxManifoldProducts.jl#152

from JuliaRobotics/RoME.jl#465

getSample for factors will then use this pattern:

function getSample(cf::CalcFactor{<:Pose2Pose2}, N::Int=1) 
  
  M = getManifold(Pose2)
  ϵ = getPointIdentity(Pose2)

  X = [sampleTangent(M, cf.factor.z, ϵ) for _=1:N] 
  return (X, )
end

@Affie Affie added this to the v0.25.0 milestone Aug 20, 2021
@codecov
Copy link

codecov bot commented Aug 20, 2021

Codecov Report

Merging #1359 (15d2909) into 21Q3/bugfix/calcVariableDistExp (6077d84) will increase coverage by 0.02%.
The diff coverage is 42.10%.

Impacted file tree graph

@@                         Coverage Diff                         @@
##           21Q3/bugfix/calcVariableDistExp    #1359      +/-   ##
===================================================================
+ Coverage                            75.32%   75.35%   +0.02%     
===================================================================
  Files                                   69       70       +1     
  Lines                                 4953     4958       +5     
===================================================================
+ Hits                                  3731     3736       +5     
  Misses                                1222     1222
Impacted Files Coverage Δ
src/IncrementalInference.jl 87.50% <ø> (ø)
src/ManifoldSampling.jl 26.66% <26.66%> (ø)
src/Factors/GenericFunctions.jl 61.53% <100.00%> (+14.59%) ⬆️

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 6077d84...15d2909. Read the comment docs.

@Affie Affie mentioned this pull request Aug 20, 2021
Draft
@dehann
Copy link
Member

dehann commented Aug 20, 2021

HI @Affie , that pattern looks good to me thanks -- lets go with sampleTangent. Future versions can resolve wheter the N::Int part as internal to IIF or user provided feature.

@Affie Affie changed the title WIP for sampleTangent and samplePoint api concept sampleTangent and samplePoint Aug 21, 2021
@Affie Affie marked this pull request as ready for review August 21, 2021 16:02
@Affie
Copy link
Member Author

Affie commented Aug 21, 2021

I'm merging as it is passing tests. will make another pr for updates to factors to use it as it's bigger than anticipated.

@Affie Affie merged commit 2945c8e into 21Q3/bugfix/calcVariableDistExp Aug 21, 2021
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@dehann dehann dehann approved these changes

Assignees

No one assigned

Labels

API manifolds sampling

Projects

None yet

Milestone

v0.25.0

Development

Successfully merging this pull request may close these issues.

3 participants

@Affie @dehann