min compat Manopt v0.4.40 and ManifoldsBase v0.15 fixes (#1798)

* min compat Manopt v0.4.40
* Fixes for MBv0.15

Author: dehann

Project.toml

@@ -79,9 +79,9 @@ FunctionalStateMachine = "0.2.9"
 JSON3 = "1"
 KernelDensityEstimate = "0.5.6"
 ManifoldDiff = "0.3"
-Manifolds = "0.8.15, 0.9"
-ManifoldsBase = "0.13.12, 0.14, 0.15"
-Manopt = "0.4.27"
+Manifolds = "0.9"
+ManifoldsBase = "0.15"
+Manopt = "0.4.40"
 MetaGraphs = "0.7"
 Optim = "1"
 OrderedCollections = "1"

src/Deprecated.jl

@@ -128,6 +128,14 @@ end
 ## Deprecate code below before v0.36
 ##==============================================================================
 
+# function Base.isapprox(a::ProductRepr, b::ProductRepr; atol::Real = 1e-6)
+#   #
+#   for (i, a_) in enumerate(a.parts)
+#     isapprox(a_, b.parts[i]; atol = atol) || (return false)
+#   end
+#   return true
+# end
+
 # exportimg(pl) = error("Please do `using Gadfly` to allow image export.")
 
 # function _perturbIfNecessary(

src/IncrementalInference.jl

@@ -50,7 +50,7 @@ using StructTypes
 using StaticArrays
 
 using ManifoldsBase
-
+using ManifoldsBase: TypeParameter
 # for BayesTree
 using MetaGraphs
 using Logging

src/Serialization/services/SerializationMKD.jl

@@ -4,8 +4,8 @@
 # this step actually occurs separate from the actual variables or factors (with their own manifolds) 
 # relies on later use of getManifold to give back the same <:AbstractManifold
 # NOTE added to DFG.@defVariable
-getVariableType(M::Euclidean{Tuple{N}}) where {N} = ContinuousEuclid(N)
-getVariableType(M::TranslationGroup{Tuple{N}}) where {N} = ContinuousEuclid(N)
+getVariableType(M::Euclidean{TypeParameter{Tuple{N}}}) where {N} = ContinuousEuclid(N)
+getVariableType(M::TranslationGroup{TypeParameter{Tuple{N}}}) where {N} = ContinuousEuclid(N)
 
 # getVariableType(M::RealCircleGroup) = Circular()
 # getVariableType(M::Circle) = error("Circle manifold is deprecated use RealCircleGroup, will come back when we generalize to non-group Riemannian")

src/manifolds/services/ManifoldsExtentions.jl

@@ -136,12 +136,15 @@ function DFG.getPointIdentity(G::SemidirectProductGroup, ::Type{T} = Float64) wh
   return ArrayPartition(np, hp)
 end
 
-function DFG.getPointIdentity(G::SpecialOrthogonal{N}, ::Type{T} = Float64) where {N, T <: Real}
+function DFG.getPointIdentity(
+  G::SpecialOrthogonal{TypeParameter{Tuple{N}}},
+  ::Type{T} = Float64
+) where {N, T <: Real}
   return SMatrix{N, N, T}(I)
 end
 
 function DFG.getPointIdentity(
-  G::TranslationGroup{Tuple{N}},
+  G::TranslationGroup{TypeParameter{Tuple{N}}},
   ::Type{T} = Float64,
 ) where {N, T <: Real}
   return zeros(SVector{N,T})

src/parametric/services/ParametricUtils.jl

@@ -494,10 +494,15 @@ function initPoints!(p, gsc, fg::AbstractDFG, solveKey = :parametric)
   end
 end
 
+function _get_dim_ranges(dims::NTuple{N,Any}) where {N}
+  dims_acc = accumulate(+, vcat(1, SVector(dims)))
+  return ntuple(i -> (dims_acc[i]:(dims_acc[i] + dims[i] - 1)), Val(N))
+end
+
 #NOTE this only works with a product of power manifolds
 function getComponentsCovar(@nospecialize(PM::ProductManifold), Σ::AbstractMatrix)
   dims = manifold_dimension.(PM.manifolds)
-  dim_ranges = Manifolds._get_dim_ranges(dims)
+  dim_ranges = _get_dim_ranges(dims)
 
   subsigmas = map(zip(dim_ranges, PM.manifolds)) do v
     r = v[1]

src/services/CompareUtils.jl

@@ -17,13 +17,7 @@ function Base.isapprox(
   return mmd(p1, p2) < atol
 end
 
-function Base.isapprox(a::ProductRepr, b::ProductRepr; atol::Real = 1e-6)
-  #
-  for (i, a_) in enumerate(a.parts)
-    isapprox(a_, b.parts[i]; atol = atol) || (return false)
-  end
-  return true
-end
+
 
 ## FIXME, FIGURE OUT HOW TO DEPRECATE BELOW ==============================================
 

test/testSphereMani.jl

@@ -13,13 +13,13 @@ import Manifolds: identity_element
 
 # NOTE Sphere{2} is not a lie group so the identity element does not exits.
 # this is for testing only and will be removed once upgraded to support any Riemannian Manifold.
-DFG.getPointIdentity(::Sphere{2, ℝ}) = SVector(1.0, 0.0, 0.0)
+DFG.getPointIdentity(::typeof(Sphere(2))) = SVector(1.0, 0.0, 0.0)
 #FIXME REMOVE! this is type piracy and not a good idea, for testing only!!!
-Manifolds.identity_element(::Sphere{2, ℝ}) = SVector(1.0, 0.0, 0.0)
-Manifolds.identity_element(::Sphere{2, ℝ}, p::AbstractVector) = SVector(1.0, 0.0, 0.0) # Float64[1,0,0]
+Manifolds.identity_element(::typeof(Sphere(2))) = SVector(1.0, 0.0, 0.0)
+Manifolds.identity_element(::typeof(Sphere(2)), p::AbstractVector) = SVector(1.0, 0.0, 0.0) # Float64[1,0,0]
 
-Base.convert(::Type{<:Tuple}, M::Sphere{2, ℝ}) = (:Euclid, :Euclid)
-Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{Sphere{2, ℝ}})  = (:Euclid, :Euclid)
+Base.convert(::Type{<:Tuple}, M::typeof(Sphere(2))) = (:Euclid, :Euclid)
+Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(Sphere(2))})  = (:Euclid, :Euclid)
 
 @defVariable Sphere2 Sphere(2) SVector(1.0, 0.0, 0.0)
 M = getManifold(Sphere2)