Merge pull request #1613 from JuliaRobotics/master

v0.30.6-rc1

.github/workflows/ci.yml

@@ -9,7 +9,7 @@ on:
   workflow_dispatch:
 jobs:
   test-stable:
-    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ matrix.group }}
+    name: JL${{ matrix.version }} - ${{ matrix.arch }} - ${{ matrix.group }} - ${{ matrix.os }}
     runs-on: ${{ matrix.os }}
     env:
       JULIA_PKG_SERVER: ""
@@ -19,7 +19,6 @@ jobs:
         version:
           - '1.6'
           - '1.8'
-          - 'nightly'
         os:
           - ubuntu-latest
         arch:
@@ -47,19 +46,26 @@ jobs:
         if: ${{ matrix.version != 'nightly' }}
 
   upstream-dev:
-    #if: github.ref != 'refs/heads/release**'
     name: Upstream Dev
     runs-on: ubuntu-latest
     env: 
       JULIA_PKG_SERVER: ""
+    strategy:
+      fail-fast: false
+      matrix:
+        arch: 
+          - x64
+        version:
+          - '1.8'
+        group:
+          - 'basic_functional_group'
+          - 'test_cases_group'
     steps:
       - uses: actions/checkout@v2
-
       - uses: julia-actions/setup-julia@v1
         with:
-          version: 1.7
-          arch: x64
-
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
       - uses: actions/cache@v1
         env:
           cache-name: cache-artifacts
@@ -70,14 +76,44 @@ jobs:
             ${{ runner.os }}-test-${{ env.cache-name }}-
             ${{ runner.os }}-test-
             ${{ runner.os }}-
-
       - run: |
           git config --global user.name Tester
           git config --global user.email [email protected]
-      
       - name: Upstream Dev
+        env:
+          IIF_TEST_GROUP: ${{ matrix.group }}
         run: |
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="master"));' 
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("IncrementalInference"; coverage=false)'
         shell: bash
+
+  test-debug-group:
+    needs: [ upstream-dev ]
+    name: JL${{ matrix.version }} - ${{ matrix.group }} - ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    env:
+      JULIA_PKG_SERVER: ""
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-latest
+        version:
+          - '1.8'
+        arch:
+          - x64
+        group:
+          - 'tmp_debug_group'
+    continue-on-error: true
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+      - uses: julia-actions/cache@v1
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-runtest@v1
+        env:
+          IIF_TEST_GROUP: ${{ matrix.group }}

LICENSE

@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2019
+Copyright (c) 2019 - 2022
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

Project.toml

@@ -2,7 +2,7 @@ name = "IncrementalInference"
 uuid = "904591bb-b899-562f-9e6f-b8df64c7d480"
 keywords = ["MM-iSAMv2", "Bayes tree", "junction tree", "Bayes network", "variable elimination", "graphical models", "SLAM", "inference", "sum-product", "belief-propagation"]
 desc = "Implements the Multimodal-iSAMv2 algorithm."
-version = "0.30.5"
+version = "0.30.6"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"

src/ManifoldsExtentions.jl

@@ -12,6 +12,30 @@ function Manifolds.manifold_dimension(M::NPowerManifold)
   return manifold_dimension(M.manifold) * M.N
 end
 
+function Manifolds.get_vector!(M::NPowerManifold, Y, p, c, B::AbstractBasis)
+  dim = manifold_dimension(M.manifold)
+  rep_size = representation_size(M.manifold)
+  v_iter = 1
+  for i in Manifolds.get_iterator(M)
+      Y[i] = get_vector(
+          M.manifold,
+          Manifolds._read(M, rep_size, p, i),
+          view(c,v_iter:(v_iter + dim - 1)),
+          B,
+      )
+      v_iter += dim
+  end
+  return Y
+end
+
+function Manifolds.exp!(M::NPowerManifold, q, p, X)
+  rep_size = representation_size(M.manifold)
+  for i in Manifolds.get_iterator(M)
+      q[i] = exp(M.manifold, Manifolds._read(M, rep_size, p, i), Manifolds._read(M, rep_size, X, i))
+  end
+  return q
+end
+
 ## ================================================================================================
 ## ArrayPartition getPointIdentity (identity_element)
 ## ================================================================================================