fix optim converged (#1867)

* fix optim converged

* Temporary pin manifolds

Author: Affie

Project.toml

@@ -87,7 +87,7 @@ JSON3 = "1"
 KernelDensityEstimate = "0.5.6"
 LinearAlgebra = "1.10"
 ManifoldDiff = "0.3, 0.4"
-Manifolds = "0.10"
+Manifolds = "=0.10.16"
 ManifoldsBase = "0.15, 1"
 Manopt = "^0.5.14"
 MetaGraphs = "0.7, 0.8"

src/parametric/services/ParametricCSMFunctions.jl

@@ -32,7 +32,7 @@ function solveUp_ParametricStateMachine(csmc::CliqStateMachineContainer)
   # @info "$(csmc.cliq.id) Σ $(Σ)"
   # Pack all results in variables
   # FIXME test f_converged, ls_success, confirm convergence check
-  if result.f_converged || result.g_converged
+  if Optim.g_converged(result) || Optim.f_converged(result)
     logCSM(csmc, "$(csmc.cliq.id): subfg optim converged updating variables")
     for (v, val) in vardict
       vnd = getSolverData(getVariable(csmc.cliqSubFg, v), :parametric)
@@ -136,7 +136,7 @@ function solveDown_ParametricStateMachine(csmc::CliqStateMachineContainer)
     #TEMP testing difference
     # vardict, result = solveGraphParametric(csmc.cliqSubFg)
     # Pack all results in variables
-    if result.g_converged || result.f_converged
+    if Optim.g_converged(result) || Optim.f_converged(result)
       logCSM(
         csmc,
         "$(csmc.cliq.id): subfg optim converged updating variables";