Merge pull request #1744 from JuliaRobotics/23Q3/ext/interpolatiosn

fix AbsRelRoots, InterpolationsExt

Author: dehann

Project.toml

@@ -51,6 +51,12 @@ TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
+[weakdeps]
+Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
+
+[extensions]
+InterpolationsExt = "Interpolations"
+
 [compat]
 ApproxManifoldProducts = "0.7"
 BSON = "0.2, 0.3"
@@ -94,7 +100,6 @@ DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
 Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
-Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
 LineSearches = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"
 Manopt = "0fc0a36d-df90-57f3-8f93-d78a9fc72bb5"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"

src/services/HeatmapSampler.jl ext/HeatmapSampler.jlsrc/services/HeatmapSampler.jl renamed to ext/HeatmapSampler.jl

@@ -1,15 +1,5 @@
 # heatmap sampler (experimental)
 
-@info "IncrementalInference.jl is loading tools related to Interpolations.jl."
-
-using .Interpolations
-
-# only export on Requires.jl
-export HeatmapGridDensity, PackedHeatmapGridDensity
-export LevelSetGridNormal, PackedLevelSetGridNormal
-
-export sampleHeatmap
-
 ##
 
 getManifold(hgd::HeatmapGridDensity) = getManifold(hgd.densityFnc)

ext/InterpolationsExt.jl

@@ -0,0 +1,25 @@
+module InterpolationsExt
+
+@info "IncrementalInference.jl is loading extensions related to Interpolations.jl."
+
+using Interpolations
+using Statistics
+using DocStringExtensions
+using TensorCast
+using Manifolds
+using ApproxManifoldProducts
+import ApproxManifoldProducts: sample
+const AMP = ApproxManifoldProducts
+
+import IncrementalInference: getManifold
+import IncrementalInference: HeatmapGridDensity, PackedHeatmapGridDensity
+import IncrementalInference: LevelSetGridNormal, PackedLevelSetGridNormal
+
+export HeatmapGridDensity, PackedHeatmapGridDensity
+export LevelSetGridNormal, PackedLevelSetGridNormal
+export sampleHeatmap
+
+
+include("HeatmapSampler.jl")
+
+end # module

ext/WeakDepsPrototypes.jl

@@ -0,0 +1 @@
+

src/IncrementalInference.jl

@@ -251,9 +251,9 @@ function __init__()
   @require DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa" include(
     "ODE/DERelative.jl",
   )
-  @require Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" include(
-    "services/HeatmapSampler.jl",
-  )
+  # @require Interpolations = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" include(
+  #   "services/HeatmapSampler.jl",
+  # )
 
   # combining neural networks natively into the non-Gaussian  factor graph object
   @require Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c" begin

test/runtests.jl

@@ -28,7 +28,7 @@ include("testHeatmapGridDensity.jl")
 include("testCliqSolveDbgUtils.jl")
 include("basicGraphsOperations.jl")
 
-include("TestModuleFunctions.jl")
+# include("TestModuleFunctions.jl")
 include("testCompareVariablesFactors.jl")
 include("saveconvertertypes.jl")
 include("testgraphpackingconverters.jl")
@@ -107,7 +107,7 @@ if Base.Sys.ARCH in [:x86_64;]
   include("testTexTreeIllustration.jl")
 end
 
-include("testMultiprocess.jl")
+# include("testMultiprocess.jl")
 include("testDeadReckoningTether.jl")
 end
 

test/testCSMMonitor.jl

@@ -2,7 +2,7 @@ using IncrementalInference
 using Test
 
 ## a new factor that is broken
-struct BrokenFactor{T<: SamplableBelief} <: AbstractRelativeRoots
+struct BrokenFactor{T<: SamplableBelief} <: AbstractManifoldMinimize
     Z::T
 end
 

test/testCalcFactorHypos.jl

@@ -8,7 +8,7 @@ import IncrementalInference: getSample, getManifold
 
 ##
 
-struct MyFactor{T <: SamplableBelief} <: IIF.AbstractRelativeRoots
+struct MyFactor{T <: SamplableBelief} <: IIF.AbstractManifoldMinimize
   Z::T
   # specialSampler approach will be deprecated
   # specialSampler::Function

test/testCommonConvWrapper.jl

@@ -72,7 +72,7 @@ end
 
 # abstract Nonparametric <: Function
 # This is what the internmediate user would be contributing
-mutable struct Pose1Pose1Test{T} <: AbstractRelativeRoots
+mutable struct Pose1Pose1Test{T} <: AbstractManifoldMinimize
   Dx::T
 end
 

test/testCompareVariablesFactors.jl

@@ -43,10 +43,10 @@ fg2 = deepcopy(fg)
 @test compareSimilarVariables(fg, fg2)
 
 @test compareSimilarFactors(fg, fg)
-@test_broken compareSimilarFactors(fg, fg2; skip=[:particleidx])
+@test compareSimilarFactors(fg, fg2; skip=[:particleidx])
 
 @test compareFactorGraphs(fg, fg)
-@test_broken compareFactorGraphs(fg, fg2; skip=[:particleidx; :varidx])
+@test compareFactorGraphs(fg, fg2; skip=[:particleidx; :varidx])
 
 # easier error messages
 getSolverParams(fg).multiproc = false
@@ -78,13 +78,10 @@ Bl = IIF._getCCW(fg2, getLabel(f2))
 field = :varValsAll
 @test !compareField(Al, Bl, field)
 
-@test_broken compareSimilarFactors(fg, fg2, skipsamples=true, skipcompute=true, skip=[:fullvariables; :varValsAll; :particleidx])
+@test compareSimilarFactors(fg, fg2, skipsamples=true, skipcompute=true, skip=[:fullvariables; :varValsAll; :particleidx])
 
 @test !compareSimilarFactors(fg, fg2, skipsamples=true, skipcompute=false)
 
-@error "Suppressing one specific factor graph compare test post DFG v0.6.0 due to unknown (likely false) compare failure"
-# @test compareFactorGraphs(fg, fg2, skipsamples=true, skipcompute=true, skip=[:initialized;:inferdim;:ppeDict; :solvedCount; :fncargvID])
-
 
 ##
 
@@ -113,7 +110,7 @@ sfg = buildSubgraph(fg, [:x0;:x1], 1) # distance=1 to include factors
 #FIXME JT - this doesn't make sense to pass, it is a subgraph so should it not rather be ⊂ [subset]?
 # compareDFG(fg1, fg2, by=⊂, skip=...)
 @test fg.sessionLabel == sfg.sessionLabel[1:length(fg.sessionLabel)]
-@test_broken compareFactorGraphs(fg, sfg, skip=[:labelDict;:addHistory;:logpath;:sessionLabel; :particleidx; :varidx])
+@test compareFactorGraphs(fg, sfg, skip=[:labelDict;:addHistory;:logpath;:sessionLabel; :particleidx; :varidx])
 
 # drawGraph(sfg)