Merge pull request #232 from JuliaRobotics/23Q2/perf/bitstypes

Support bitstypes

src/Interface.jl

@@ -105,6 +105,43 @@ function setPointPartial!(Mdest::AbstractManifold,
   return dest 
 end
 
+function setPointPartial!(
+  Mdest::AbstractManifold, 
+  dest::AbstractArray{T}, 
+  Msrc::AbstractManifold, 
+  src::AbstractArray{U},
+  partial::AbstractVector{<:Integer},
+  destIdx,
+  srcIdx=destIdx,
+  asPartial::Bool=true
+) where {T<:AbstractArray,U<:AbstractArray}
+
+  if isbitstype(T)
+    #TODO needs cleanup, this is copied from setPointPartial! above with index changes
+    if length(partial) == 0
+      return dest[destIdx]
+    end
+    dest_coords = collect(AMP.makeCoordsFromPoint(Mdest, dest[destIdx]))
+    src_coords = AMP.makeCoordsFromPoint(Msrc, src[srcIdx])
+    dest_coords[partial] .= asPartial ? src_coords : view(src_coords, partial)
+    return dest[destIdx] = makePointFromCoords(Mdest, dest_coords, dest[destIdx])
+
+  else
+    return setPointPartial!(Mdest, dest[destIdx], Msrc, src[srcIdx], partial, asPartial)
+  end
+
+end
+
+#TODO workaround for supporting bitstypes, need rewrite, can consider `PowerManifoldNestedReplacing` or similar, maybe copyto!
+function setPointsMani!(dest::AbstractArray{T}, src::AbstractArray{U}, destIdx, srcIdx=destIdx) where {T<:AbstractArray,U<:AbstractArray}
+  if isbitstype(T)
+    dest[destIdx] = src[srcIdx]
+  else
+    setPointsMani!(dest[destIdx],src[srcIdx])
+  end
+end
+
+
 #TODO  ArrayPartition should work for now as it's an AbstractVector, but it won't remain mutable
 setPointsMani!(dest::AbstractVector, src::AbstractVector) = (dest .= src)
 setPointsMani!(dest::AbstractMatrix, src::AbstractMatrix) = (dest .= src)
@@ -165,7 +202,7 @@ function Base.replace( dest::ManifoldKernelDensity{M,<:BallTreeDensity,Nothing},
   ipc[pl] .= src.infoPerCoord[pl]
 
   # and _u0 point is a bit more tricky
-  c0 = vee(dest.manifold, dest._u0, log(dest.manifold, dest._u0, dest._u0))
+  c0 = collect(vee(dest.manifold, dest._u0, log(dest.manifold, dest._u0, dest._u0)))
   c_ = vee(dest.manifold, dest._u0, log(dest.manifold, dest._u0, src._u0))
   c0[pl] .= c_[pl]
   u0 = exp(dest.manifold, dest._u0, hat(dest.manifold, dest._u0, c0))

src/services/ManifoldKernelDensity.jl

@@ -261,7 +261,20 @@ end
 # pts = getPoints(x)
 
 
+"""
+    $SIGNATURES
+
+If a marginal (statistics) of a probability reduce the dimensions (i.e. casts a shadow, or projects); then an 
+antimarginal aims to increase dimension of the probability within reason.
 
+Notes
+- Marginalization is a integration of for higher dimension to lower dimension, so antimarginal likely involve 
+  differentiation (anti-integral) instead.
+- In manifold language, this is an embedding into a higher dimensional space.
+- See structure from motion in machine vision, or stereo disparity for building depth clouds from 2D images.
+- Imagine combining three different partial embedding A=[1, nan, nan, 1.4], B=[nan,2.1,nan,4], C=[nan, nan, 3, nan]
+  which should equal A+B+C = [notnan, notnan, notnan, notnan]
+"""
 function antimarginal(newM::AbstractManifold,
                       u0,
                       mkd::ManifoldKernelDensity, 
@@ -270,9 +283,10 @@ function antimarginal(newM::AbstractManifold,
 
   # convert to antimarginal by copying user provided example point for bigger manifold
   pts = getPoints(mkd, false)
+  # new coord partials must be placed into a full dimension point, thats why we use u0
   nPts = Vector{typeof(u0)}(undef, length(pts))
-  for (i,pt) in enumerate(pts)
-    nPts[i] = setPointPartial!(newM, deepcopy(u0), mkd.manifold, pt, newpartial)
+  for i in eachindex(pts)
+    setPointPartial!(newM, nPts, mkd.manifold, pts, newpartial, i)
   end
 
   # also update metadata elements