bug fix, restore tests

Author: dehann

src/entities/ExtFactors.jl

@@ -19,7 +19,7 @@ DevNotes
 - FIXME Lots of consolidation and standardization to do, see RoME.jl #244 regarding Manifolds.jl.
 - TODO does not yet handle case where a factor spans across two timezones.
 """
-struct DERelative{T <: InferenceVariable, P, D} <: AbstractRelativeMinimize
+struct DERelative{T <: InferenceVariable, P, D} <: AbstractManifoldMinimize # AbstractRelativeMinimize
   domain::Type{T}
   forwardProblem::P
   backwardProblem::P

src/services/GraphInit.jl

@@ -123,10 +123,11 @@ Notes:
 - Special carve out for multihypo cases, see issue 427.
 
 Development Notes:
-> Target factor is first (singletons) or second (dim 2 pairwise) variable vertex in `xi`.
-* TODO use DFG properly with local operations and DB update at end.
-* TODO get faster version of `isInitialized` for database version.
-* TODO: Persist this back if we want to here.
+- Target factor is first (singletons) or second (dim 2 pairwise) variable vertex in `xi`.
+- TODO use DFG properly with local operations and DB update at end.
+- TODO get faster version of `isInitialized` for database version.
+- TODO: Persist this back if we want to here.
+- TODO: init from just partials
 """
 function doautoinit!(
   dfg::AbstractDFG,

test/runtests.jl

@@ -5,10 +5,7 @@ TEST_GROUP = get(ENV, "IIF_TEST_GROUP", "all")
 # temporarily moved to start (for debugging)
 #...
 if TEST_GROUP in ["all", "tmp_debug_group"]
-# include("testSpecialOrthogonalMani.jl")
-# include("testDERelative.jl")
-include("testpartialconstraint.jl")
-
+include("testSpecialOrthogonalMani.jl")
 include("testMultiHypo3Door.jl")
 include("priorusetest.jl")
 end
@@ -20,17 +17,18 @@ include("manifolds/factordiff.jl")
 include("testSpecialEuclidean2Mani.jl")
 include("testEuclidDistance.jl")
 
-# regular testing
-include("testSphereMani.jl")
-include("testBasicManifolds.jl")
-
 # start as basic as possible and build from there
 include("typeReturnMemRef.jl")
 include("testDistributionsGeneric.jl")
-include("testHeatmapGridDensity.jl")
 include("testCliqSolveDbgUtils.jl")
 include("basicGraphsOperations.jl")
 
+# regular testing
+include("testSphereMani.jl")
+include("testBasicManifolds.jl")
+include("testDERelative.jl")
+include("testHeatmapGridDensity.jl")
+
 # include("TestModuleFunctions.jl")
 include("testCompareVariablesFactors.jl")
 include("saveconvertertypes.jl")
@@ -59,7 +57,7 @@ include("testDefaultDeconv.jl")
 
 include("testPartialFactors.jl")
 include("testPartialPrior.jl")
-
+include("testpartialconstraint.jl")
 include("testPartialNH.jl")
 include("testMixturePrior.jl")
 

test/testDERelative.jl

@@ -252,10 +252,10 @@ val0 = getPPESuggested( hists[1][12][4].cliqSubFg[:x0] )
 
 ##
 
-@test getPPE(fg, :x0).suggested - x0_val_ref |> norm < 0.1
-@test getPPE(fg, :x1).suggested - x1_val_ref |> norm < 0.1
-@test getPPE(fg, :x2).suggested - x2_val_ref |> norm < 0.1
-@test getPPE(fg, :x3).suggested - x3_val_ref |> norm < 0.1
+@test isapprox( getPPE(fg, :x0).suggested, x0_val_ref; atol = 0.1)
+@test isapprox( getPPE(fg, :x1).suggested, x1_val_ref; atol = 0.1)
+@test isapprox( getPPE(fg, :x2).suggested, x2_val_ref; atol = 0.1)
+@test isapprox( getPPE(fg, :x3).suggested, x3_val_ref; atol = 0.1)
 
 ##
 

test/testSpecialEuclidean2Mani.jl

@@ -158,7 +158,7 @@ function (cf::CalcFactor{<:ManifoldFactorSE2})(X, p, q)
     vee!(M, Xc, q, log(M, q, q̂))
     return Xc
 end
-  
+
 ##
 
 @testset "Test Pose2 like hex as SpecialEuclidean2" begin
@@ -314,7 +314,7 @@ doautoinit!(fg, :x1)
 vnd = getVariableSolverData(fg, :x1)
 @test all(isapprox.(mean(vnd.val), [1.0,2.0], atol=0.1))
 
-# ##
+##
 smtasks = Task[]
 solveTree!(fg; smtasks, verbose=true, recordcliqs=ls(fg))
 # # hists = fetchCliqHistoryAll!(smtasks);