drop AbstractRelativeRoots

Author: dehann

attic/FluxModelsPose2Pose2.jl

@@ -26,7 +26,7 @@ import Base: convert
 import IncrementalInference: getSample, calcZDim
 
 
-struct FluxModelsPose2Pose2{P,D<:AbstractArray,M<:SamplableBelief} <: AbstractRelativeRoots
+struct FluxModelsPose2Pose2{P,D<:AbstractArray,M<:SamplableBelief} <: AbstractRelativeMinimize
   allPredModels::Vector{P}
   joyVelData::D
   naiveModel::M
@@ -125,7 +125,7 @@ FluxModelsPose2Pose2( allModels::Vector,
                                         Ref(DT),
                                         Ref(shuffle) )
 #
-# struct FluxModelsPose2Pose2{P,D<:AbstractArray,M<:SamplableBelief} <: AbstractRelativeRoots
+# struct FluxModelsPose2Pose2{P,D<:AbstractArray,M<:SamplableBelief} <: AbstractRelativeMinimize
 #   allPredModels::Vector{P}
 #   joyVelData::D
 #   naiveModel::M

examples/KinematicJoints.jl

@@ -6,7 +6,7 @@ import IncrementalInference: getSample
 using TransformUtils
 
 
-mutable struct ZJoint <: AbstractRelativeRoots
+mutable struct ZJoint <: AbstractRelativeMinimize
   Zij::Distribution
 end
 function getSample(el::ZJoint, N=1)
@@ -33,7 +33,7 @@ function (el::ZJoint)(res, userdata, idx, meas, xi, xj)
   nothing
 end
 
-mutable struct XJoint <: AbstractRelativeRoots
+mutable struct XJoint <: AbstractRelativeMinimize
   Zij::Distribution
 end
 function getSample(el::XJoint, N=1)

src/factors/DynPose2D.jl

@@ -57,7 +57,7 @@ end
 """
 $(TYPEDEF)
 """
-mutable struct DynPose2Pose2{T <: IIF.SamplableBelief} <: IIF.AbstractRelativeRoots
+mutable struct DynPose2Pose2{T <: IIF.SamplableBelief} <: IIF.AbstractRelativeMinimize
   Zpose::Pose2Pose2{T} #Zpose::T1
   partial::Tuple{Int,Int,Int}
 end
@@ -141,7 +141,7 @@ end
 """
 $(TYPEDEF)
 """
-Base.@kwdef struct DynPose2DynPose2{T <: IIF.SamplableBelief} <: AbstractRelativeRoots
+Base.@kwdef struct DynPose2DynPose2{T <: IIF.SamplableBelief} <: AbstractRelativeMinimize
   Z::T = MvNormal(zeros(5), diagm([0.01;0.01;0.001;0.1;0.1].^2))
 end
 preambleCache(::AbstractDFG, ::AbstractVector{<:DFGVariable}, ::DynPose2DynPose2) = zeros(5)

src/factors/InertialPose3.jl

@@ -135,7 +135,7 @@ $(TYPEDEF)
 
 Inertial Odometry version of preintegration procedure and used as a factor between InertialPose3 types for inertial navigation in factor graphs.
 """
-mutable struct InertialPose3 <: AbstractRelativeRoots
+mutable struct InertialPose3 <: AbstractRelativeMinimize
   # Zij is entropy of veeLie15, pioc is preintegral measurements, pido is compensation gradients.
   # TODO, expand to <:SamplableBelief
   Z::Distribution

src/factors/Point3Point3.jl

@@ -3,7 +3,7 @@
 """
 $(TYPEDEF)
 """
-Base.@kwdef struct Point3Point3{D <: IIF.SamplableBelief} <: AbstractRelativeRoots
+Base.@kwdef struct Point3Point3{D <: IIF.SamplableBelief} <: AbstractRelativeMinimize
     Z::D = MvNormal(zeros(3),diagm([0.1;0.1;0.1]))
 end
 

src/factors/Polar.jl

@@ -32,7 +32,7 @@ end
 
 Linear offset factor of `IIF.SamplableBelief` between two `Polar` variables.
 """
-Base.@kwdef struct PolarPolar{T1<:IIF.SamplableBelief, T2<:IIF.SamplableBelief} <: IIF.AbstractRelativeRoots
+Base.@kwdef struct PolarPolar{T1<:IIF.SamplableBelief, T2<:IIF.SamplableBelief} <: IIF.AbstractRelativeMinimize
   Zrange::T1 = Normal(1,1)
   Zangle::T2 = Normal(0,0.1)
 end

src/factors/flux/MixtureFluxPose2Pose2.jl

@@ -8,7 +8,7 @@ import IncrementalInference: getSample
 export MixtureFluxPose2Pose2, PackedMixtureFluxPose2Pose2
 
 
-struct MixtureFluxPose2Pose2{F <: AbstractFactor} <: AbstractRelativeRoots
+struct MixtureFluxPose2Pose2{F <: AbstractFactor} <: AbstractRelativeMinimize
   Z::F
   # delta time between variables
   DT::Base.RefValue{Float64}

test/testhigherdimroots.jl

@@ -7,7 +7,7 @@ import  IncrementalInference: getSample, getManifold
 using TransformUtils: Euler
 ##
 
-mutable struct RotationTest <: IncrementalInference.AbstractRelativeRoots
+mutable struct RotationTest <: IncrementalInference.AbstractRelativeMinimize
   z::MvNormal
 end
 

test/testpackingconverters.jl

@@ -163,7 +163,7 @@ global unpackeddata = reconstFactorData(fg, getVariableOrder(f1), IncrementalInf
 
 # TODO -- fix ambibuity in compare function
 @test compareAll(DFG.getSolverData(f1), unpackeddata, skip=[:fnc;])
-@test_broken compareAll(DFG.getSolverData(f1).fnc, unpackeddata.fnc, skip=[:params;:threadmodel;:cpt;:usrfnc!;:vartypes;:particleidx;:varidx])
+@test compareAll(DFG.getSolverData(f1).fnc, unpackeddata.fnc, skip=[:params;:threadmodel;:cpt;:usrfnc!;:vartypes;:particleidx;:varidx])
 @test compareAll(DFG.getSolverData(f1).fnc.usrfnc!, unpackeddata.fnc.usrfnc!, skip=[:Zi;:Z;:p])
 
 # deprecated p