Merge pull request #149 from JuliaRobotics/21Q3/maint/drtchains

std to TranslationGroup
JuliaRobotics · Aug 11, 2021 · 1169d4c · 1169d4c
2 parents cc190f5 + ac6186a
commit 1169d4c
Show file tree

Hide file tree

Showing 5 changed files with 14 additions and 14 deletions.
diff --git a/src/Legacy.jl b/src/Legacy.jl
@@ -3,7 +3,7 @@
 
 function _reducePartialManifoldElements(el::Symbol)
   if el == :Euclid
-    return Euclidean(1)
+    return TranslationGroup(1)
   elseif el == :Circular
     return Circle()
   end

diff --git a/src/entities/ManifoldDefinitions.jl b/src/entities/ManifoldDefinitions.jl
@@ -33,12 +33,12 @@ const _AMP_CIRCLE = Manifolds.Circle()
 # this is just wrong and needs to be fixed
 const Circle1 = Circle()
 
-const Euclid =  Euclidean(1)
+const Euclid =  TranslationGroup(1)
 const EuclideanManifold = Euclid
 
-const Euclid2 = Euclidean(2)
-const Euclid3 = Euclidean(3)
-const Euclid4 = Euclidean(4)
+const Euclid2 = TranslationGroup(2)
+const Euclid3 = TranslationGroup(3)
+const Euclid4 = TranslationGroup(4)
 
 # TODO if not easy simplification exists, then just deprecate this
 const SE2_Manifold = SpecialEuclidean(2)

diff --git a/src/services/ManifoldPartials.jl b/src/services/ManifoldPartials.jl
@@ -53,7 +53,7 @@ end
 ## EXTRACT PARTIAL MANIFOLD
 
 
-function getManifoldPartial(M::Euclidean{Tuple{N}}, 
+function getManifoldPartial(M::Union{<:Euclidean{Tuple{N}},<:TranslationGroup}, 
                             partial::AbstractVector{Int}, 
                             repr::_PartiableRepresentationFlat{T}=nothing,
                             offset::Base.RefValue{Int}=Ref(0);
@@ -63,7 +63,7 @@ function getManifoldPartial(M::Euclidean{Tuple{N}},
   offset[] += manifold_dimension(M)
   len = sum(mask)
   repr_p = repr === nothing ? nothing : zeros(T,len) 
-  return (Euclidean(len),repr_p)
+  return (TranslationGroup(len),repr_p)
 end
 
 function getManifoldPartial(M::Circle, 

diff --git a/test/testBasicManiProduct.jl b/test/testBasicManiProduct.jl
@@ -19,8 +19,8 @@ pts1 = [[0.05*randn(2);0.75*randn()] for i in 1:N]
 pts2 = [[0.05*randn(2);0.75*randn()] for i in 1:N]
 
 
-P1 = manikde!(Euclidean(3),pts1)
-P2 = manikde!(Euclidean(3),pts2)
+P1 = manikde!(TranslationGroup(3),pts1)
+P2 = manikde!(TranslationGroup(3),pts2)
 
 P12 = P1*P2
 

diff --git a/test/testManifoldPartial.jl b/test/testManifoldPartial.jl
@@ -9,16 +9,16 @@ using Manifolds
 
 ##
 
-M = Euclidean(3)
+M = TranslationGroup(3)
 
-@test getManifoldPartial(M, [1;2;3])[1] == Euclidean(3)
-@test getManifoldPartial(M, [2;3])[1] == Euclidean(2)
+@test getManifoldPartial(M, [1;2;3])[1] == TranslationGroup(3)
+@test getManifoldPartial(M, [2;3])[1] == TranslationGroup(2)
 
 
-@test getManifoldPartial(M, [1;2;3], zeros(3))[1] == Euclidean(3)
+@test getManifoldPartial(M, [1;2;3], zeros(3))[1] == TranslationGroup(3)
 @test isapprox( getManifoldPartial(M, [1;2;3], zeros(3))[2], zeros(3) )
 
-@test getManifoldPartial(M, [2;3], zeros(3))[1] == Euclidean(2)
+@test getManifoldPartial(M, [2;3], zeros(3))[1] == TranslationGroup(2)
 @test isapprox( getManifoldPartial(M, [2;3], zeros(3))[2], zeros(2))