Merge pull request #1837 from JuliaRobotics:24Q3/enh/minorfixes

minor fixes and improvements

Author: dehann

src/parametric/services/ParametricManopt.jl

@@ -259,7 +259,7 @@ function getSparsityPattern(fg, varLabels, factLabels)
 
   vdims = getDimension.(getVariable.(fg, biadj.varLabels))
   fdims = getDimension.(getFactor.(fg, biadj.facLabels))
- 
+
   c_end = cumsum(vdims)
   r_end = cumsum(fdims)
 
@@ -272,7 +272,7 @@ function getSparsityPattern(fg, varLabels, factLabels)
     vec(CartesianIndices((R_range[R], C_range[C])))
   end)
 
-  vec(CartesianIndices((R_range[2], C_range[1])))
+  # vec(CartesianIndices((R_range[2], C_range[1])))
 
   return sparse(getindex.(iter,1), getindex.(iter,2), ones(Bool, length(iter)))
 end

src/services/FactorGraph.jl

@@ -104,7 +104,7 @@ end
 function setVal!(
   vd::VariableNodeData,
   val::AbstractVector{P},
-  bw::Array{Float64, 2},
+  bw::AbstractMatrix{Float64},
 ) where {P}
   setVal!(vd, val)
   setBW!(vd, bw)
@@ -113,7 +113,7 @@ end
 function setVal!(
   v::DFGVariable,
   val::AbstractVector{P},
-  bw::Array{Float64, 2};
+  bw::AbstractMatrix{Float64};
   solveKey::Symbol = :default,
 ) where {P}
   setVal!(v, val; solveKey = solveKey)
@@ -123,15 +123,15 @@ end
 function setVal!(
   vd::VariableNodeData,
   val::AbstractVector{P},
-  bw::Vector{Float64},
+  bw::AbstractVector{Float64},
 ) where {P}
   setVal!(vd, val, reshape(bw, length(bw), 1))
   return nothing
 end
 function setVal!(
   v::DFGVariable,
   val::AbstractVector{P},
-  bw::Vector{Float64};
+  bw::AbstractVector{Float64};
   solveKey::Symbol = :default,
 ) where {P}
   setVal!(getSolverData(v, solveKey), val, bw)

src/services/SolverAPI.jl

@@ -342,7 +342,7 @@ function solveTree!(
   runtaskmonitor::Bool = true,
   algorithm::Symbol = :default,
   solveKey::Symbol = algorithm,
-  multithread::Bool = false,
+  multithread::Bool = true,
 )
   #
   # workaround in case isolated variables occur