slightly nicer manifolds in ccw

JuliaRobotics · Jul 7, 2021 · 9718395 · 9718395
1 parent 03a5773
commit 9718395
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/src/FactorGraph.jl b/src/FactorGraph.jl
@@ -655,7 +655,8 @@ function prepgenericconvolution(Xi::Vector{<:DFGVariable},
           nullhypo=nullhypo,
           threadmodel=threadmodel,
           inflation=inflation,
-          partialDims=partialDims
+          partialDims=partialDims,
+          manifolds = tuple(getManifold.(Xi)...)
         )
   #
   return ccw

diff --git a/src/FactorGraphTypes.jl b/src/FactorGraphTypes.jl
@@ -277,7 +277,9 @@ function CommonConvWrapper( fnc::T,
                             perturb=zeros(zDim),
                             res::AbstractVector{<:Real}=zeros(zDim),
                             threadmodel::Type{<:_AbstractThreadModel}=MultiThreaded,
-                            inflation::Real=3.0  ) where {T<:FunctorInferenceType,P,H}
+                            inflation::Real=3.0,
+                            manifolds=tuple(getManifold.(factormetadata.fullvariables)...)  
+                            ) where {T<:FunctorInferenceType,P,H}
   #
   return  CommonConvWrapper(fnc,
                             xDim,
@@ -296,7 +298,7 @@ function CommonConvWrapper( fnc::T,
                                               perturb=perturb, res=res )).(1:Threads.nthreads()),
                             inflation,
                             partialDims,  # SVector(Int32.()...)
-                            tuple(getManifold.(factormetadata.fullvariables)...))
+                            manifolds,)
 end