Merge pull request #1748 from JuliaRobotics/23Q3/ext/derelative

wip DiffEqFactorExt

Author: dehann

Project.toml

@@ -50,11 +50,13 @@ TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
 [weakdeps]
+DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
 Gadfly = "c91e804a-d5a3-530f-b6f0-dfbca275c004"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
 
 [extensions]
+DiffEqFactorExt = "DifferentialEquations"
 GadflyExt = "Gadfly"
 InteractiveUtilsExt = "InteractiveUtils"
 InterpolationsExt = "Interpolations"
@@ -96,7 +98,6 @@ TimeZones = "1.3.1"
 julia = "1.8"
 
 [extras]
-DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
 Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 LineSearches = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"

src/ODE/DERelative.jl ext/DiffEqFactorExt.jlsrc/ODE/DERelative.jl renamed to ext/DiffEqFactorExt.jl

@@ -1,41 +1,20 @@
+module DiffEqFactorExt
 
-@info "IncrementalInference.jl is loading tools related to DifferentialEquations.jl"
+@info "IncrementalInference.jl is loading extensions related to DifferentialEquations.jl"
 
-using .DifferentialEquations
+using DifferentialEquations
+import DifferentialEquations: solve
 
-import .DifferentialEquations: solve
+using Dates
 
-import IncrementalInference: getSample, getManifold
+using IncrementalInference
+import IncrementalInference: getSample, getManifold, DERelative
 
-export DERelative
+using DocStringExtensions
 
-"""
-    $TYPEDEF
+export DERelative
 
-Build a full ODE solution into a relative factor to condense possible sensor data into a relative transformation,
-but keeping the parameter estimation process fluid.  Assumes first and second variable in order 
-are of same dimension and compatible manifolds, such that ODE runs from Xi to Xi+1 on all
-dimensions.  Internal state vector can be decoupled onto different domain as needed.
 
-Notes
-- Based on DifferentialEquations.jl
-- `getSample` step does the `solve(ODEProblem)` step.
-- `tspan` is taken from variables only once at object construction -- i.e. won't detect changed timestamps.
-- Regular factor evaluation is done as full dimension `AbstractRelativeRoots`, and is basic linear difference.
-
-DevNotes
-- FIXME see 1025, `multihypo=` will not yet work. 
-- FIXME Lots of consolidation and standardization to do, see RoME.jl #244 regarding Manifolds.jl.
-- TODO does not yet handle case where a factor spans across two timezones.
-"""
-struct DERelative{T <: InferenceVariable, P, D} <: AbstractRelativeRoots
-  domain::Type{T}
-  forwardProblem::P
-  backwardProblem::P
-  # second element of this data tuple is additional variables that will be passed down as a parameter
-  data::D
-  specialSampler::Function
-end
 
 getManifold(de::DERelative{T}) where {T} = getManifold(de.domain)
 
@@ -132,6 +111,8 @@ function _solveFactorODE!(measArr, prob, u0pts, Xtra...)
   return sol
 end
 
+getSample(cf::CalcFactor{<:DERelative}) = error("getSample(::CalcFactor{<:DERelative}) not implemented yet")
+
 # FIXME see #1025, `multihypo=` will not work properly yet
 function sampleFactor(cf::CalcFactor{<:DERelative}, N::Int = 1)
   #
@@ -220,3 +201,5 @@ end
 # ode.problem.f.f
 
 #
+
+end # module

ext/GadflyExt.jl

@@ -4,7 +4,7 @@ module GadflyExt
 
 using Gadfly
 using DocStringExtensions
-using IncrementalInference: AbstractBayesTree, TreeCliq, getCliqueData, getCliqAssocMat, getCliqMat, getLabel, getCliqMsgMat, getClique
+using IncrementalInference: AbstractBayesTree, TreeClique, getCliqueData, getCliqAssocMat, getCliqMat, getLabel, getCliqMsgMat, getClique
 import IncrementalInference: exportimg, spyCliqMat
 
 export exportimg, spyCliqMat

ext/WeakDepsPrototypes.jl

@@ -1,4 +1,32 @@
 
+"""
+    $TYPEDEF
+
+Build a full ODE solution into a relative factor to condense possible sensor data into a relative transformation,
+but keeping the parameter estimation process fluid.  Assumes first and second variable in order 
+are of same dimension and compatible manifolds, such that ODE runs from Xi to Xi+1 on all
+dimensions.  Internal state vector can be decoupled onto different domain as needed.
+
+Notes
+- Based on DifferentialEquations.jl
+- `getSample` step does the `solve(ODEProblem)` step.
+- `tspan` is taken from variables only once at object construction -- i.e. won't detect changed timestamps.
+- Regular factor evaluation is done as full dimension `AbstractRelativeRoots`, and is basic linear difference.
+
+DevNotes
+- FIXME see 1025, `multihypo=` will not yet work. 
+- FIXME Lots of consolidation and standardization to do, see RoME.jl #244 regarding Manifolds.jl.
+- TODO does not yet handle case where a factor spans across two timezones.
+"""
+struct DERelative{T <: InferenceVariable, P, D} <: AbstractRelativeMinimize
+  domain::Type{T}
+  forwardProblem::P
+  backwardProblem::P
+  # second element of this data tuple is additional variables that will be passed down as a parameter
+  data::D
+  specialSampler::Function
+end
+
 # InteractiveUtils.jl
 function getCurrentWorkspaceFactors end
 function getCurrentWorkspaceVariables end

src/ExportAPI.jl

@@ -358,6 +358,8 @@ export makeSolverData!
 
 export MetaPrior
 
+export DERelative
+
 # weakdeps on InteractiveUtils.jl
 export getCurrentWorkspaceFactors, getCurrentWorkspaceVariables
 export listTypeTree

src/IncrementalInference.jl

@@ -246,9 +246,9 @@ function __init__()
   # @require Gadfly = "c91e804a-d5a3-530f-b6f0-dfbca275c004" include(
   #   "services/EmbeddedPlottingUtils.jl",
   # )
-  @require DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa" include(
-    "ODE/DERelative.jl",
-  )
+  # @require DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa" include(
+  #   "ODE/DERelative.jl",
+  # )
   # @require Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" include(
   #   "services/HeatmapSampler.jl",
   # )

test/runtests.jl

@@ -96,7 +96,11 @@ include("testCircular.jl")
 include("testMixtureLinearConditional.jl")
 include("testFluxModelsDistribution.jl")
 include("testAnalysisTools.jl")
-# include("testDERelative.jl")
+try
+  include("testDERelative.jl")
+catch
+  @error "[FAILED]  Fix testDERelative.jl, likely just requires implementing DiffEqFactorExt.getSample(::CalcFactor{<:DERelative})."
+end
 
 include("testBasicParametric.jl")
 include("testMixtureParametric.jl")