From 0c2cbb4974068ef596e357ac9152641826d82430 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Sat, 12 Jun 2021 23:31:18 -0400
Subject: [PATCH 1/2] move downstream functions from TU

---
 src/Deprecated.jl    |  9 +++++++++
 src/OdometryUtils.jl | 12 ++++++++++++
 src/RoME.jl          |  2 --
 3 files changed, 21 insertions(+), 2 deletions(-)

diff --git a/src/Deprecated.jl b/src/Deprecated.jl
index 9e1d5f56..4683586a 100644
--- a/src/Deprecated.jl
+++ b/src/Deprecated.jl
@@ -88,6 +88,15 @@ end
 ## Remove as part of Manifolds.jl consolidation, #244
 ##==============================================================================
 
+export veePose3, veePose
+
+function veePose3(s::SE3)
+  TransformUtils.veeEuler(s)
+end
+function veePose(s::SE3)
+  TransformUtils.veeEuler(s)
+end
+
 
 # getManifolds(fctType::InstanceType{Pose2Pose2}) = getManifolds(getDomain(fctType))
 # getManifolds(fctType::InstanceType{Pose2Point2}) = getManifolds(getDomain(fctType))
diff --git a/src/OdometryUtils.jl b/src/OdometryUtils.jl
index 7601f5a4..de3b41bb 100644
--- a/src/OdometryUtils.jl
+++ b/src/OdometryUtils.jl
@@ -132,6 +132,18 @@ function extractDeltaOdo(XX, YY, TH)
 end
 
 
+# DX = [transx, transy, theta]
+function addPose2Pose2!(retval::Array{<:Real,1}, x::Array{<:Real,1}, dx::Array{<:Real,1})
+  X = SE2(x)
+  DX = SE2(dx)
+  se2vee!(retval, X*DX)
+  nothing
+end
+function addPose2Pose2(x::Array{<:Real,1}, dx::Array{<:Real,1})
+  retval = zeros(3)
+  addPose2Pose2!(retval, x, dx)
+  return retval
+end
 
 
 ## Previous methods
diff --git a/src/RoME.jl b/src/RoME.jl
index b22dcda5..7f9000eb 100644
--- a/src/RoME.jl
+++ b/src/RoME.jl
@@ -67,8 +67,6 @@ export
   addAutoLandmBR!,
   projNewLandm!,
   malahanobisBR,
-  veePose3,
-  veePose,
   \,
   RangeAzimuthElevation,
 

From 0ae5421bcdbcb6b25d961953d46a1ad96c1b1f1e Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Sat, 12 Jun 2021 23:32:03 -0400
Subject: [PATCH 2/2] update compat for TU

---
 Project.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Project.toml b/Project.toml
index d34b0aff..82ce4191 100644
--- a/Project.toml
+++ b/Project.toml
@@ -50,7 +50,7 @@ Requires = "1.0"
 Rotations = "0.13, 1"
 StaticArrays = "1"
 TensorCast = "0.3.3, 0.4"
-TransformUtils = "0.2.10"
+TransformUtils = "0.2.11"
 julia = "1.4"
 
 [extras]