Mostly finished with parametric manopt refactor

Author: Affie

Project.toml

@@ -8,7 +8,6 @@ version = "0.34.1"
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
 BSON = "fbb218c0-5317-5bc6-957e-2ee96dd4b1f0"
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
-BlockArrays = "8e7c35d0-a365-5155-bbbb-fb81a777f24e"
 Combinatorics = "861a8166-3701-5b0c-9a16-15d98fcdc6aa"
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
@@ -67,7 +66,6 @@ IncrInfrInterpolationsExt = "Interpolations"
 [compat]
 ApproxManifoldProducts = "0.7, 0.8"
 BSON = "0.2, 0.3"
-BlockArrays = "0.16"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
 DelimitedFiles = "1"

src/IncrementalInference.jl

@@ -221,7 +221,7 @@ include("parametric/services/ConsolidateParametricRelatives.jl")
 include("parametric/services/ParametricCSMFunctions.jl")
 include("parametric/services/ParametricUtils.jl")
 include("parametric/services/ParametricOptim.jl")
-include("parametric/services/ParametricManoptDev.jl")
+include("parametric/services/ParametricManopt.jl")
 include("services/MaxMixture.jl")
 
 #X-stroke

src/entities/CalcFactor.jl

@@ -86,17 +86,7 @@ struct CalcFactorMahalanobis{
 end
 
 
-# struct CalcFactorMahalanobis{N, D, L, S <: Union{Nothing, AbstractMaxMixtureSolver}} <: AbstractCalcFactor{FT}
-#   faclbl::Symbol
-#   calcfactor!::CalcFactor
-#   varOrder::Vector{Symbol}
-#   meas::NTuple{N, <:AbstractArray}
-#   iΣ::NTuple{N, SMatrix{D, D, Float64, L}}
-#   specialAlg::S
-# end
-
-#rename to CalcFactorResidual
-struct CalcFactorManopt{
+struct CalcFactorResidual{
   FT <: AbstractFactor,
   C,
   D,
@@ -116,8 +106,8 @@ struct CalcFactorManopt{
   sqrt_iΣ::SMatrix{D, D, Float64, L}
 end
 
-_nvars(::CalcFactorManopt{FT, C, D, L, P, MEAS, N}) where {FT, C, D, L, P, MEAS, N} = N
+_nvars(::CalcFactorResidual{FT, C, D, L, P, MEAS, N}) where {FT, C, D, L, P, MEAS, N} = N
 # _typeof_meas(::CalcFactorManopt{FT, C, D, L, MEAS, N}) where {FT, C, D, L, MEAS, N} = MEAS
-DFG.getDimension(::CalcFactorManopt{FT, C, D, L, P, MEAS, N}) where {FT, C, D, L, P, MEAS, N} = D
+DFG.getDimension(::CalcFactorResidual{FT, C, D, L, P, MEAS, N}) where {FT, C, D, L, P, MEAS, N} = D