Towards Singleton Softtypes and getDimension getManifolds

[Affie]

No description provided.

[dehann]

This should work manikde!(pts, Pose2()).

[Affie]

Ok, I don't know the API yet. I just used direct replacement. Should we change all of them?

[dehann]

no need to change them, just wanted to share so that you are aware. The internal function are doing the same thing you are getManifolds(T())

[dehann]

can also consider avoiding the object allocation with getDimension(::Type{DynPoint2}) = 4

[Affie]

We can consider that at a later stage. For now, the softtype field still exists for compatibility with types such as DynPose2, so instances are passed.

[dehann]

From Travis
https://travis-ci.org/github/JuliaRobotics/RoME.jl/jobs/715058286

Got exception outside of a @test

  type Pose3 has no field dims

  Stacktrace:

    [1] getproperty(x::Pose3, f::Symbol)

      @ Base ./Base.jl:33

    [2] addVariable!(dfg::LightDFG{SolverParams,DistributedFactorGraphs.DFGVariable,DistributedFactorGraphs.DFGFactor}, lbl::Symbol, softtype::Pose3; N::Int64, autoinit::Nothing, solvable::Int64, timestamp::TimeZones.ZonedDateTime, dontmargin::Bool, labels::Nothing, tags::Vector{Symbol}, smalldata::Dict{String,String}, checkduplicates::Bool, initsolvekeys::Vector{Symbol})

      @ IncrementalInference ~/.julia/packages/IncrementalInference/TFc0I/src/FactorGraph.jl:415

    [3] addVariable!(dfg::LightDFG{SolverParams,DistributedFactorGraphs.DFGVariable,DistributedFactorGraphs.DFGFactor}, lbl::Symbol, softtype::Type{Pose3}; N::Int64, autoinit::Nothing, timestamp::TimeZones.ZonedDateTime, solvable::Int64, dontmargin::Bool, labels::Nothing, tags::Vector{Symbol}, smalldata::Dict{String,String})

      @ IncrementalInference ~/.julia/packages/IncrementalInference/TFc0I/src/FactorGraph.jl:446

    [4] top-level scope

      @ ~/build/JuliaRobotics/RoME.jl/test/testPose3Pose3NH.jl:42

    [5] top-level scope

      @ /buildworker/worker/package_linux64/build/usr/share/julia/stdlib/v1.6/Test/src/Test.jl:1114

    [6] top-level scope

      @ ~/build/JuliaRobotics/RoME.jl/test/testPose3Pose3NH.jl:42

    [7] include(fname::String)

      @ Base.MainInclude ./client.jl:443

    [8] top-level scope

      @ ~/build/JuliaRobotics/RoME.jl/test/runtests.jl:44

    [9] include(fname::String)

      @ Base.MainInclude ./client.jl:443

   [10] top-level scope

      @ none:6

   [11] eval(m::Module, e::Any)

      @ Core ./boot.jl:344

   [12] exec_options(opts::Base.JLOptions)

      @ Base ./client.jl:260

   [13] _start()

      @ Base ./client.jl:484

[Affie]

type Pose3 has no field dims

This is by design as part of the move to singleton softtypes. It needs DFG and IIF masters to pass.

[dehann]

gotcha, thanks!

[Affie]

Test are passing on masters, so merging.