Merge pull request #137 from JuliaRobotics/21Q3/enh/mkd_notpartial

MKD helpers now ignore partial if full
JuliaRobotics · Aug 5, 2021 · 39f2bfc · 39f2bfc
2 parents 2338507 + 47da929
commit 39f2bfc
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Showing 2 changed files with 25 additions and 8 deletions.
diff --git a/src/API.jl b/src/API.jl
@@ -121,18 +121,13 @@ function manifoldProduct( ff::AbstractVector{<:ManifoldKernelDensity},
   for msk in partialDimMask
     otherDims .|= msk
   end
-  # error(otherDims)
 
   # build new output ManifoldKernelDensity
   bws[:] = getKDEManifoldBandwidths(pGM, manif)
   bel = kde!(pGM, bws, addopT, diffopT)
 
   # FIXME u0 might not be representative of the partial information
-  if sum(otherDims) == ndims
-    return ManifoldKernelDensity(mani, bel, nothing, ff[1]._u0)
-  else
-    return ManifoldKernelDensity(mani, bel, (1:ndims)[otherDims], ff[1]._u0)
-  end
+  return ManifoldKernelDensity(mani, bel, otherDims, ff[1]._u0)
 end
 
 

diff --git a/src/services/ManifoldKernelDensity.jl b/src/services/ManifoldKernelDensity.jl
@@ -14,11 +14,33 @@ export calcMean
 
 ManifoldKernelDensity(mani::M, 
                       bel::B, 
-                      partial::L=nothing, 
+                      ::Nothing=nothing, 
                       u0::P=zeros(manifold_dimension(mani));
-                      infoPerCoord::AbstractVector{<:Real}=ones(getNumberCoords(mani, u0)) ) where {M <: MB.AbstractManifold, B <: BallTreeDensity, L, P} = ManifoldKernelDensity{M,B,L,P}(mani,bel,partial,u0,infoPerCoord)
+                      infoPerCoord::AbstractVector{<:Real}=ones(getNumberCoords(mani, u0)) ) where {M <: MB.AbstractManifold, B <: BallTreeDensity, P} = ManifoldKernelDensity{M,B,Nothing,P}(mani,bel,nothing,u0,infoPerCoord)
 #
 
+function ManifoldKernelDensity( mani::M, 
+                                bel::B, 
+                                partial::L, 
+                                u0::P=zeros(manifold_dimension(mani));
+                                infoPerCoord::AbstractVector{<:Real}=ones(getNumberCoords(mani, u0)) ) where {M <: MB.AbstractManifold, B <: BallTreeDensity, L<:AbstractVector{<:Integer}, P}
+  #
+  if length(partial) != manifold_dimension(mani)
+    # call the constructor direct
+    return ManifoldKernelDensity{M,B,L,P}(mani,bel,partial,u0,infoPerCoord)
+  else
+    # full manifold, therefore equivalent to L::Nothing
+    return ManifoldKernelDensity(mani,bel,nothing,u0;infoPerCoord=infoPerCoord)
+  end
+end
+
+ManifoldKernelDensity(mani::M, 
+                      bel::B, 
+                      pl_mask::Union{<:BitVector,<:AbstractVector{<:Bool}}, 
+                      u0::P=zeros(manifold_dimension(mani));
+                      infoPerCoord::AbstractVector{<:Real}=ones(getNumberCoords(mani, u0)) ) where {M <: MB.AbstractManifold, B <: BallTreeDensity, P} = ManifoldKernelDensity(mani,bel,(1:manifold_dimension(mani))[pl_mask],u0;infoPerCoord=infoPerCoord)
+
+
 function ManifoldKernelDensity( M::MB.AbstractManifold,
                                 vecP::AbstractVector{P},
                                 u0=vecP[1];