drop NLsolve dependency

Author: dehann

Project.toml

@@ -30,8 +30,6 @@ Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
 ManifoldsBase = "3362f125-f0bb-47a3-aa74-596ffd7ef2fb"
 Manopt = "0fc0a36d-df90-57f3-8f93-d78a9fc72bb5"
 MetaGraphs = "626554b9-1ddb-594c-aa3c-2596fe9399a5"
-NLSolversBase = "d41bc354-129a-5804-8e4c-c37616107c6c"
-NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
 Optim = "429524aa-4258-5aef-a3af-852621145aeb"
 OrderedCollections = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
@@ -78,8 +76,6 @@ Manifolds = "0.8.15"
 ManifoldsBase = "0.13.12, 0.14"
 Manopt = "0.4.27"
 MetaGraphs = "0.7"
-NLSolversBase = "7.6"
-NLsolve = "3, 4"
 Optim = "1"
 OrderedCollections = "1"
 PrecompileTools = "1"

src/IncrementalInference.jl

@@ -27,8 +27,6 @@ export TranslationGroup, RealCircleGroup
 # common non-groups -- TODO still teething problems to sort out in IIF v0.25-v0.26.
 export Euclidean, Circle
 
-import NLsolve
-import NLSolversBase
 import Optim
 
 using Dates,

src/services/NumericalCalculations.jl

@@ -349,7 +349,7 @@ Notes
 - Assumes `cpt_.p` is already set to desired X decision variable dimensions and size. 
 - Assumes only `ccw.particleidx` will be solved for
 - small random (off-manifold) perturbation used to prevent trivial solver cases, div by 0 etc.
-  - perturb is necessary for NLsolve cases, and smaller than 1e-10 will result in test failure
+  - perturb is necessary for NLsolve (obsolete) cases, and smaller than 1e-10 will result in test failure
 - Also incorporates the active hypo lookup
 
 DevNotes

test/runtests.jl

@@ -47,7 +47,6 @@ include("testTreeSaveLoad.jl")
 # include("testGradientUtils.jl")
 # include("testFactorGradients.jl")
 include("testSpecialSampler.jl") # TODO, rename, refine
-include("testNLsolve.jl")
 include("testCommonConvWrapper.jl")
 
 include("testApproxConv.jl")

test/testCommonConvWrapper.jl

@@ -1,7 +1,7 @@
 # test CommonConvWrapper
 
 using Test
-using NLsolve
+# using NLsolve
 using IncrementalInference
 using Manifolds
 using Statistics