Upgrade to nalgebra 0.33

Cargo.toml

@@ -16,29 +16,28 @@ rustdoc-args = ["--html-in-header", "assets/katex-header.html"]
 [dependencies]
 # base
 ahash = "0.8.11"
-derive_more = "0.99.17"
 paste = "1.0.15"
 downcast-rs = "1.2.1"
-log = "0.4.21"
+log = "0.4.22"
 
 # numerical 
-faer = { version = "0.19.0", default-features = false, features = [
+faer = { version = "0.19.4", default-features = false, features = [
     "perf-warn",
     "std",
     "matrixcompare",
 ] }
-faer-ext = { version = "0.2.0", features = ["nalgebra"] }
-nalgebra = { version = "0.32.5", features = ["compare"] }
-num-dual = "0.9.1"
-matrixcompare = { version = "0.1" }
+faer-ext = { version = "0.3.0", features = ["nalgebra"] }
+nalgebra = { version = "0.33.2", features = ["compare"] }
+num-dual = "0.10.0"
+matrixcompare = { version = "0.3" }
 
 # serialization
-serde = { version = "1.0.203", optional = true }
-typetag = { version = "0.2.16", optional = true }
-serde_json = { version = "1.0.120", optional = true }
+serde = { version = "1.0.214", optional = true }
+typetag = { version = "0.2.18", optional = true }
+serde_json = { version = "1.0.132", optional = true }
 
 # rerun support
-rerun = { version = "0.18", optional = true, default-features = false, features = [
+rerun = { version = "0.19", optional = true, default-features = false, features = [
     "sdk",
 ] }
 
@@ -71,8 +70,8 @@ rerun = ["dep:rerun"]
 
 [dev-dependencies]
 matrixcompare = "0.3.0"
-pretty_env_logger = "0.4"
-nalgebra = { version = "0.32.5", features = ["compare"] }
+pretty_env_logger = "0.5"
+nalgebra = { version = "0.33.2", features = ["compare"] }
 
 [[example]]
 name = "g2o"

src/linalg/dual.rs

@@ -12,19 +12,13 @@ pub type DualScalar = num_dual::Dual<dtype, dtype>;
 
 /// Make allocator binds easier for dual numbers
 pub trait DualAllocator<N: Dim>:
-    Allocator<dtype, N>
-    + Allocator<dtype, Const<1>, N>
-    + Allocator<dtype, N, Const<1>>
-    + Allocator<dtype, N, N>
+    Allocator<N> + Allocator<Const<1>, N> + Allocator<N, Const<1>> + Allocator<N, N>
 {
 }
 
 impl<
         N: Dim,
-        T: Allocator<dtype, N>
-            + Allocator<dtype, Const<1>, N>
-            + Allocator<dtype, N, Const<1>>
-            + Allocator<dtype, N, N>,
+        T: Allocator<N> + Allocator<Const<1>, N> + Allocator<N, Const<1>> + Allocator<N, N>,
     > DualAllocator<N> for T
 {
 }

src/linalg/nalgebra_wrap.rs

@@ -2,22 +2,14 @@
 // Misc imports
 use nalgebra::{self as na, OVector};
 pub use nalgebra::{
-    allocator::Allocator,
-    dmatrix as matrixx,
-    dvector as vectorx,
-    ComplexField,
-    Const,
-    DefaultAllocator,
-    Dim,
-    DimName,
-    Dyn,
-    RealField,
+    allocator::Allocator, dmatrix as matrixx, dvector as vectorx, ComplexField, Const,
+    DefaultAllocator, Dim, DimName, Dyn, RealField,
 };
 
 use crate::dtype;
 
 // Make it easier to bind the buffer type
-pub type AllocatorBuffer<N> = <DefaultAllocator as Allocator<dtype, N>>::Buffer;
+pub type AllocatorBuffer<N> = <DefaultAllocator as Allocator<N>>::Buffer<dtype>;
 
 // ------------------------- Vector/Matrix Aliases ------------------------- //
 // Vectors
@@ -99,7 +91,7 @@ pub type Matrix<const R: usize, const C: usize = 1, D = dtype> = na::Matrix<
     D,
     Const<R>,
     Const<C>,
-    <na::DefaultAllocator as Allocator<D, Const<R>, Const<C>>>::Buffer,
+    <na::DefaultAllocator as Allocator<Const<R>, Const<C>>>::Buffer<D>,
 >;
 pub type MatrixView<'a, const R: usize, const C: usize = 1, D = dtype> =
     na::MatrixView<'a, D, Const<R>, Const<C>>;
@@ -116,5 +108,5 @@ pub type VectorView6<'a, D = dtype> = na::VectorView<'a, D, Const<6>>;
 // Generic, taking in sizes with Const
 pub type VectorDim<N, D = dtype> = OVector<D, N>;
 pub type MatrixDim<R, C = Const<1>, D = dtype> =
-    na::Matrix<D, R, C, <na::DefaultAllocator as Allocator<D, R, C>>::Buffer>;
+    na::Matrix<D, R, C, <na::DefaultAllocator as Allocator<R, C>>::Buffer<D>>;
 pub type MatrixViewDim<'a, R, C = Const<1>, D = dtype> = na::MatrixView<'a, D, R, C>;

src/noise/unit.rs

@@ -1,3 +1,5 @@
+use core::fmt;
+
 use super::NoiseModel;
 use crate::{
     linalg::{Const, MatrixX, VectorX},
@@ -26,7 +28,7 @@ tag_noise!(
 ///
 /// Represents a noise model that does not modify the input, or equal weighting
 /// in a [factor](crate::containers::Factor).
-#[derive(Clone, Debug, derive_more::Display)]
+#[derive(Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct UnitNoise<const N: usize>;
 
@@ -41,3 +43,9 @@ impl<const N: usize> NoiseModel for UnitNoise<N> {
         m
     }
 }
+
+impl<const N: usize> fmt::Display for UnitNoise<N> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(f, "{:?}", self)
+    }
+}

src/residuals/between.rs

@@ -1,35 +1,19 @@
+use core::fmt;
+
 use nalgebra::{DimNameAdd, DimNameSum};
 
 use super::{Residual, Residual2};
 #[allow(unused_imports)]
 use crate::{
     containers::{Key, Values},
     linalg::{
-        AllocatorBuffer,
-        Const,
-        DefaultAllocator,
-        DiffResult,
-        DualAllocator,
-        DualVector,
-        ForwardProp,
-        MatrixX,
-        Numeric,
-        VectorX,
+        AllocatorBuffer, Const, DefaultAllocator, DiffResult, DualAllocator, DualVector,
+        ForwardProp, MatrixX, Numeric, VectorX,
     },
     tag_residual,
     variables::{
-        Variable,
-        VariableUmbrella,
-        VectorVar1,
-        VectorVar2,
-        VectorVar3,
-        VectorVar4,
-        VectorVar5,
-        VectorVar6,
-        SE2,
-        SE3,
-        SO2,
-        SO3,
+        Variable, VariableUmbrella, VectorVar1, VectorVar2, VectorVar3, VectorVar4, VectorVar5,
+        VectorVar6, SE2, SE3, SO2, SO3,
     },
 };
 
@@ -56,7 +40,7 @@ tag_residual!(
 /// $$
 ///
 /// where $z$ is the measured value.
-#[derive(Clone, Debug, derive_more::Display)]
+#[derive(Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub struct BetweenResidual<P: Variable> {
     delta: P,
@@ -107,3 +91,9 @@ where
         self.residual2_jacobian(values, keys)
     }
 }
+
+impl<P: Variable> fmt::Display for BetweenResidual<P> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(f, "{:?}", self)
+    }
+}

src/residuals/prior.rs

@@ -1,33 +1,17 @@
+use core::fmt;
+
 use super::{Residual, Residual1};
 #[allow(unused_imports)]
 use crate::{
     containers::{Key, Values},
     linalg::{
-        AllocatorBuffer,
-        Const,
-        DefaultAllocator,
-        DiffResult,
-        DualAllocator,
-        DualVector,
-        ForwardProp,
-        MatrixX,
-        Numeric,
-        VectorX,
+        AllocatorBuffer, Const, DefaultAllocator, DiffResult, DualAllocator, DualVector,
+        ForwardProp, MatrixX, Numeric, VectorX,
     },
     tag_residual,
     variables::{
-        Variable,
-        VariableUmbrella,
-        VectorVar1,
-        VectorVar2,
-        VectorVar3,
-        VectorVar4,
-        VectorVar5,
-        VectorVar6,
-        SE2,
-        SE3,
-        SO2,
-        SO3,
+        Variable, VariableUmbrella, VectorVar1, VectorVar2, VectorVar3, VectorVar4, VectorVar5,
+        VectorVar6, SE2, SE3, SO2, SO3,
     },
 };
 
@@ -51,7 +35,7 @@ tag_residual!(
 /// z \ominus v
 /// $$
 /// where $z$ is the prior value and $v$ is the variable being estimated.
-#[derive(Clone, Debug, derive_more::Display)]
+#[derive(Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub struct PriorResidual<P: Variable> {
     prior: P,
@@ -96,6 +80,12 @@ where
     }
 }
 
+impl<P: Variable> fmt::Display for PriorResidual<P> {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(f, "{:?}", self)
+    }
+}
+
 #[cfg(test)]
 mod test {
 

src/variables/traits.rs

@@ -5,18 +5,8 @@ use downcast_rs::{impl_downcast, Downcast};
 use crate::{
     dtype,
     linalg::{
-        AllocatorBuffer,
-        Const,
-        DefaultAllocator,
-        DimName,
-        DualAllocator,
-        DualVector,
-        MatrixDim,
-        MatrixViewDim,
-        Numeric,
-        VectorDim,
-        VectorViewX,
-        VectorX,
+        AllocatorBuffer, Const, DefaultAllocator, DimName, DualAllocator, DualVector, MatrixDim,
+        MatrixViewDim, Numeric, VectorDim, VectorViewX, VectorX,
     },
 };
 
@@ -233,11 +223,11 @@ use nalgebra as na;
 /// properties here.
 pub trait MatrixLieGroup<D: Numeric = dtype>: Variable<D>
 where
-    na::DefaultAllocator: na::allocator::Allocator<D, Self::TangentDim, Self::TangentDim>,
-    na::DefaultAllocator: na::allocator::Allocator<D, Self::MatrixDim, Self::MatrixDim>,
-    na::DefaultAllocator: na::allocator::Allocator<D, Self::VectorDim, Self::TangentDim>,
-    na::DefaultAllocator: na::allocator::Allocator<D, Self::TangentDim, Const<1>>,
-    na::DefaultAllocator: na::allocator::Allocator<D, Self::VectorDim, Const<1>>,
+    na::DefaultAllocator: na::allocator::Allocator<Self::TangentDim, Self::TangentDim>,
+    na::DefaultAllocator: na::allocator::Allocator<Self::MatrixDim, Self::MatrixDim>,
+    na::DefaultAllocator: na::allocator::Allocator<Self::VectorDim, Self::TangentDim>,
+    na::DefaultAllocator: na::allocator::Allocator<Self::TangentDim, Const<1>>,
+    na::DefaultAllocator: na::allocator::Allocator<Self::VectorDim, Const<1>>,
 {
     /// Dimension of the tangent space
     type TangentDim: DimName;