Update Manifolds compat (#1891)

* CompatHelper: bump compat for Manifolds to 0.11 for package IncrementalInferenceTypes, (keep existing compat) (#1890)

Co-authored-by: CompatHelper Julia <compathelper_noreply@julialang.org>

* CompatHelper: bump compat for DataStructures to 0.19 for package IncrementalInference, (keep existing compat) (#1889)

Co-authored-by: CompatHelper Julia <compathelper_noreply@julialang.org>

* CompatHelper: bump compat for Manifolds to 0.11 for package IncrementalInference, (keep existing compat) (#1888)

Co-authored-by: CompatHelper Julia <compathelper_noreply@julialang.org>

* CompatHelper: bump compat for ManifoldsBase to 2 for package IncrementalInference, (keep existing compat) (#1887)

Co-authored-by: CompatHelper Julia <compathelper_noreply@julialang.org>
Co-authored-by: Johannes Terblanche <6612981+Affie@users.noreply.github.com>

* update compat

* update some functions moved from Manifolds to LieGroups

---------

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: CompatHelper Julia <compathelper_noreply@julialang.org>
Co-authored-by: Johannes Terblanche <Affie@users.noreply.github.com>

Author: 3 people

IncrementalInference/Project.toml

@@ -72,7 +72,7 @@ ApproxManifoldProducts = "0.10"
 BSON = "0.2, 0.3"
 CliqueTrees = "0.5, 1"
 Combinatorics = "1.0"
-DataStructures = "0.16, 0.17, 0.18"
+DataStructures = "0.18, 0.19"
 DelimitedFiles = "1"
 DifferentialEquations = "7"
 DistributedFactorGraphs = "0.27, 0.28"
@@ -91,8 +91,8 @@ KernelDensityEstimate = "0.5.6"
 LieGroups = "0.1.1"
 LinearAlgebra = "1.10"
 ManifoldDiff = "0.3, 0.4"
-Manifolds = "0.10.17"
-ManifoldsBase = "0.15, 1"
+Manifolds = "0.10.17, 0.11"
+ManifoldsBase = "1, 2"
 Manopt = "0.5.14"
 MetaGraphs = "0.7, 0.8"
 Optim = "1"

IncrementalInference/src/Factors/GenericFunctions.jl

@@ -29,7 +29,7 @@ DFG.getDimension(Z::BallTreeDensity) = Ndim(Z)
 # Generic function that can be used in binary factors to calculate distance between points on Lie Groups with measurements.
 # """
 # function distancePoint2Point(M::SemidirectProductGroup, m, p, q)
-#   q̂ = Manifolds.compose(M, p, m)
+#   q̂ = LieGroups.compose(M, p, m)
 #   # return log(M, q, q̂)
 #   return vee(M, q, log(M, q, q̂))
 #   # return distance(M, q, q̂)

IncrementalInference/src/IncrementalInference.jl

@@ -17,7 +17,6 @@ import Manifolds
 using Manifolds:
   Circle,
   Euclidean,
-  ProductGroup,
   AbstractDecoratorManifold,
   get_vector,
   ProductManifold,

IncrementalInference/src/manifolds/services/ManifoldsExtentions.jl

@@ -67,7 +67,7 @@ function Manifolds.exp!(M::NPowerManifold, q, p, X)
   return q
 end
 
-function Manifolds.compose!(M::NPowerManifold, x, p, q)
+function LieGroups.compose!(M::NPowerManifold, x, p, q)
   rep_size = representation_size(M.manifold)
   for i in Manifolds.get_iterator(M)
     x[i] = compose(
@@ -109,10 +109,10 @@ function DFG.getPointIdentity(M::ProductManifold, ::Type{T} = Float64) where {T
   return ArrayPartition(map(x -> getPointIdentity(x, T), M.manifolds))
 end
 
-function DFG.getPointIdentity(G::ProductGroup, ::Type{T} = Float64) where {T <: Real}
-  M = G.manifold
-  return ArrayPartition(map(x -> getPointIdentity(x, T), M.manifolds))
-end
+# function DFG.getPointIdentity(G::ProductGroup, ::Type{T} = Float64) where {T <: Real}
+#   M = G.manifold
+#   return ArrayPartition(map(x -> getPointIdentity(x, T), M.manifolds))
+# end
 
 function DFG.getPointIdentity(
   G::LieGroups.TranslationGroup{ℝ, TypeParameter{Tuple{N}}},

IncrementalInference/test/manifolds/factordiff.jl

@@ -92,7 +92,7 @@ p2 = exp(M, e0, hat(M, e0, [10,0,pi/2]))
 
 
 function resid_SE2(X, p, q)
-  q̂ = Manifolds.compose(M, p, exp(M, identity_element(M, typeof(p)), X)) #for groups
+  q̂ = LieGroups.compose(M, p, exp(M, identity_element(M, typeof(p)), X)) #for groups
   return vee(M, q, log(M, q, q̂))
 end
 
@@ -170,7 +170,7 @@ end
 
 # # modified from IIF/test/testSpecialEuclidean2Mani.jl
 # function f_SE2(X, p, q)
-#   q̂ = Manifolds.compose(M, p, exp(M, identity_element(M, p), X)) #for groups
+#   q̂ = LieGroups.compose(M, p, exp(M, identity_element(M, p), X)) #for groups
 #   Xc = zeros(3)
 #   vee!(M, Xc, q, log(M, q, q̂))
 #   return Xc

IncrementalInferenceTypes/Project.toml

@@ -22,7 +22,7 @@ DistributedFactorGraphs = "0.27, 0.28.0"
 Distributions = "0.25.120"
 DocStringExtensions = "0.9.5"
 LieGroups = "0.1.2"
-Manifolds = "0.10.16"
+Manifolds = "0.10.16, 0.11"
 RecursiveArrayTools = "3.33.0"
 StaticArrays = "1.9.13"
 StructTypes = "1.11.0"