Merge pull request #1817 from JuliaRobotics/24Q1/fix/typeparametric

docs fixes, typo fix depr solveFactorParameteric

Author: dehann

NEWS.md

@@ -24,6 +24,7 @@ The list below highlights breaking changes according to normal semver workflow -
 - Restore `DifferentialEquation.jl` factor `DERelative` functionality and tests that were suppressed in a previous upgrade (#1774, #1777).
 - Restore previously suppressed tests (#1781, #1721, #1780)
 - Improve DERelative factor on-manifold operations (#1775, #1802, #1803).
+- Fixed a typo via deprecation, `solveFactorParametric` replaces `solveFactorParameteric`.
 
 # Changes in v0.34
 
@@ -110,7 +111,7 @@ The list below highlights breaking changes according to normal semver workflow -
 - Upstream `calcHelix_T` canonical generator utility from RoME.jl.
 - Deserialization of factors with DFG needs new API and change of solverData and CCW type in factor.
 - Deprecate use of `getParametricMeasurement` and use `getMeasurementParametric` instead, and add `<:AbstractManifold` to API.
-- Deprecate use of `solveBinaryFactorParameteric`, instead use `solveFactorParameteric`.
+- Deprecate use of `solveBinaryFactorParameteric`, instead use `solveFactorParametric`.
 - Deprecating `approxConvBinary`, use `approxConvBelief` instead.
 - Removing obsolete `approxConvCircular`, use `approxConvBelief` instead.
 - `getSample` should return a single sample and no longer takes the N(number of samples) parameter.

src/Deprecated.jl

@@ -123,6 +123,7 @@ end
 ## Deprecate code below before v0.37
 ##==============================================================================
 
+@deprecate solveFactorParameteric(w...;kw...) solveFactorParametric(w...;kw...)
 
 ##==============================================================================
 ## Deprecate code below before v0.36

src/ExportAPI.jl

@@ -344,7 +344,7 @@ export approxDeconvBelief
 export cont2disc
 export rebaseFactorVariable!
 export accumulateFactorMeans
-export solveFactorParameteric
+export solveFactorParametric
 
 export repeatCSMStep!
 export attachCSM!

src/parametric/services/ConsolidateParametricRelatives.jl

@@ -18,7 +18,7 @@ DevNotes
 
 Related: [`getMeasurementParametric`](@ref), [`approxConvBelief`](@ref), [`MutablePose2Pose2Gaussian`](@ref)
 """
-function solveFactorParameteric(
+function solveFactorParametric(
   dfg::AbstractDFG,
   fct::DFGFactor,
   # currval::P1,

src/parametric/services/ParametricUtils.jl

@@ -52,7 +52,7 @@ Notes
     - Originally written just for Lie Groups to support legacy, but future needs may well alter the design.
 - Original design driven by parametric solve and dead reckon tethering.
 
-See also: [`accumulateFactorMeans`](@ref), [`solveFactorParameteric`](@ref)
+See also: [`accumulateFactorMeans`](@ref), [`solveFactorParametric`](@ref)
 """
 function getMeasurementParametric end
 
@@ -648,7 +648,7 @@ DevNotes
 - WIP
 - Relates to: https://github.com/JuliaRobotics/IncrementalInference.jl/issues/466#issuecomment-562556953
 - Consolidation
-  - Definitely with [`solveFactorParameteric`](@ref)
+  - Definitely with [`solveFactorParametric`](@ref)
   - Maybe with [`solveGraphParametric`](@ref)
     - https://github.com/JuliaRobotics/IncrementalInference.jl/pull/1588#issuecomment-1210406683
 """

src/services/EvalFactor.jl

@@ -620,7 +620,7 @@ B = _evalFactorTemporary!(EuclidDistance, (ContinuousScalar, ContinuousScalar),
 # should return `B = 10`
 ```
 
-See also:  [`calcFactorResidual`](@ref), [`testFactorResidualBinary`](@ref), [`solveFactorParameteric`](@ref), [`approxConvBelief`](@ref)
+See also:  [`calcFactorResidual`](@ref), [`testFactorResidualBinary`](@ref), [`solveFactorParametric`](@ref), [`approxConvBelief`](@ref)
 """
 function _evalFactorTemporary!(
   fct::AbstractFactor,

src/services/SolverUtilities.jl

@@ -203,7 +203,7 @@ Notes
 - This function does not add new variables or factors to `fg`, user must do that themselves after.
   - Useful to use in combination with `setPPE!` on new variable.
 - At time of writing `accumulateFactorMeans` could only incorporate priors or binary relative factors.
-  - internal info, see [`solveFactorParameteric`](@ref),
+  - internal info, see [`solveFactorParametric`](@ref),
   - This means at time of writing `factor` must be a binary factor.
 - Tip, if simulations are inducing odometry bias, think of using two factors from caller (e.g. simPerfect and simBias).
 

src/services/TetherUtils.jl

@@ -114,7 +114,7 @@ DevNotes
 
 Related:
 
-[`approxConvBelief`](@ref), [`solveFactorParameteric`](@ref), `RoME.MutablePose2Pose2Gaussian`
+[`approxConvBelief`](@ref), [`solveFactorParametric`](@ref), `RoME.MutablePose2Pose2Gaussian`
 """
 function accumulateFactorMeans(
   dfg::AbstractDFG, 
@@ -150,7 +150,7 @@ function accumulateFactorMeans(
     # first find direction of solve
     vars = getVariableOrder(fct)
     trgsym = setdiff(vars, [srcsym])[1]
-    val = solveFactorParameteric(dfg, fct, [srcsym => val;], trgsym; solveKey)
+    val = solveFactorParametric(dfg, fct, [srcsym => val;], trgsym; solveKey)
     srcsym = trgsym
   end