Merge pull request #113 from JuliaRobotics/21Q3/fix/translationgroup

fixes found downstream w TranslationGroup
JuliaRobotics · Jul 20, 2021 · bd2aeac · bd2aeac
2 parents 421b898 + a94e11b
commit bd2aeac
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "ApproxManifoldProducts"
 uuid = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
 keywords = ["MM-iSAMv2", "SLAM", "inference", "sum-product", "belief-propagation", "nonparametric", "manifolds", "functional"]
-version = "0.4.6"
+version = "0.4.7"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

diff --git a/src/API.jl b/src/API.jl
@@ -64,7 +64,7 @@ function manifoldProduct( ff::AbstractVector{<:ManifoldKernelDensity},
   glbs.recordChoosen = recordLabels
 
   # TODO DEPRECATE ::NTuple{Symbol} approach
-  manif = convert(Tuple,M) #[partialDimsWorkaround]
+  manif = convert(Tuple, mani)  #[partialDimsWorkaround]
   addopT, diffopT, getManiMu, _ = buildHybridManifoldCallbacks(manif)
 
 

diff --git a/src/ApproxManifoldProducts.jl b/src/ApproxManifoldProducts.jl
@@ -1,9 +1,8 @@
 module ApproxManifoldProducts
 
-using Base: ident_cmp
 using Reexport
 @reexport using KernelDensityEstimate
-@reexport using TransformUtils
+@reexport using TransformUtils  # likely to be deprecated
 using Random
 
 import ManifoldsBase

diff --git a/src/Legacy.jl b/src/Legacy.jl
@@ -51,6 +51,7 @@ end
 _MtoSymbol(::Euclidean{Tuple{1}}) = :Euclid
 _MtoSymbol(::Circle) = :Circular
 Base.convert(::Type{<:Tuple}, M::ProductManifold) = _MtoSymbol.(M.manifolds)
+Base.convert(::Type{<:Tuple}, M::TranslationGroup) = tuple([:Euclid for i in 1:manifold_dimension(M)]...)
 
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Euclid)}) = (:Euclid,)
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Euclid2)}) = (:Euclid,:Euclid)