Merge pull request #236 from JuliaRobotics/23Q3/en/gadflyext

ApproxManiProdGadflyExt refactor

Project.toml

@@ -1,10 +1,11 @@
 name = "ApproxManifoldProducts"
 uuid = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
 keywords = ["MM-iSAMv2", "SLAM", "inference", "sum-product", "belief-propagation", "nonparametric", "manifolds", "functional"]
-version = "0.7.0"
+version = "0.7.1"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
+Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
@@ -34,6 +35,12 @@ TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 Unicode = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
+[weakdeps]
+Gadfly = "c91e804a-d5a3-530f-b6f0-dfbca275c004"
+
+[extensions]
+ApproxManiProdGadflyExt = "Gadfly"
+
 [compat]
 CoordinateTransformations = "0.5, 0.6"
 DocStringExtensions = "0.7, 0.8, 0.9"

ext/ApproxManiProdGadflyExt.jl

@@ -0,0 +1,13 @@
+module ApproxManiProdGadflyExt
+
+using Gadfly
+using Colors
+using Manifolds
+using ApproxManifoldProducts: BallTreeDensity, ManifoldKernelDensity
+
+import ApproxManifoldProducts: plotCircBeliefs, plotKDECircular, plotMKD
+
+
+include("CircularPlotting.jl")
+
+end

src/plotting/CircularPlotting.jl → ext/CircularPlotting.jl

@@ -1,10 +1,5 @@
 # plotting functions of manifold beliefs
 
-using .Gadfly
-using .Colors
-
-export plotCircBeliefs, plotKDECircular
-
 
 # import ApproxManifoldProducts: plotCircBeliefs, plotKDECircular
 
@@ -98,7 +93,7 @@ function plotKDECircular( bd::BallTreeDensity;
 end
 
 
-plotMKD(mkd::ManifoldKernelDensity{M}) where M <: MB.AbstractManifold = plotKDE(mkd.belief)
+plotMKD(mkd::ManifoldKernelDensity{M}) where M <: AbstractManifold = plotKDE(mkd.belief)
 plotMKD(mkds::AbstractVector{<:ManifoldKernelDensity}) = plotKDE((x->x.belief).(mkds))
 
 

ext/WeakdepsPrototypes.jl

@@ -0,0 +1,5 @@
+
+# Gadfly.jl
+function plotCircBeliefs end
+function plotKDECircular end
+function plotMKD end

src/ApproxManifoldProducts.jl

@@ -69,11 +69,8 @@ include("API.jl")
 
 include("Deprecated.jl")
 
-function __init__()
-  @require Gadfly="c91e804a-d5a3-530f-b6f0-dfbca275c004" begin
-    @require Colors="5ae59095-9a9b-59fe-a467-6f913c188581" include("plotting/CircularPlotting.jl")
-  end
-end
+# weak dependencies
+include("../ext/WeakdepsPrototypes.jl")
 
 
 end

src/Deprecated.jl

@@ -3,6 +3,12 @@
 ## Remove below before v0.8
 ## ======================================================================================================
 
+# function __init__()
+#   @require Gadfly="c91e804a-d5a3-530f-b6f0-dfbca275c004" begin
+#     @require Colors="5ae59095-9a9b-59fe-a467-6f913c188581" include("plotting/CircularPlotting.jl")
+#   end
+# end
+
 
 @deprecate R(th::Real) _Rot.RotMatrix2(th).mat # = [[cos(th);-sin(th)]';[sin(th);cos(th)]'];
 @deprecate R(;x::Real=0.0,y::Real=0.0,z::Real=0.0) (M=SpecialOrthogonal(3);exp(M,identity_element(M),hat(M,Identity(M),[x,y,z]))) # convert(SO3, so3([x,y,z]))

src/Legacy.jl

@@ -60,6 +60,10 @@ Base.convert(::Type{<:Tuple}, ::Manifolds.Euclidean{Tuple{N}, ℝ} ) where N = t
 Base.convert(::Type{<:Tuple}, ::Manifolds.Circle{ℝ})  = error("#FIXME")#(:Circular,)
 Base.convert(::Type{<:Tuple}, ::Manifolds.RealCircleGroup)  = (:Circular,)
 
+# included separately downstream as needed
+# Base.convert(::Type{<:Tuple}, ::Manifolds.SpecialOrthogonal{2}) = (:Circular,)
+# Base.convert(::Type{<:Tuple}, ::Manifolds.SpecialOrthogonal{3}) = tuple([:Circular for _ in 1:3]...)
+
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Euclid)}) = (:Euclid,)
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Euclid2)}) = (:Euclid,:Euclid)
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Euclid3)}) = (:Euclid,:Euclid,:Euclid)