revert LinearRelative and update CI

Affie · Affie · commit f027f411f9ec · 2025-06-27T16:30:05.000+02:00
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -9,15 +9,15 @@ on:
   
 jobs:
   test-stable:
-    name: JL${{ matrix.version }} - ${{ matrix.arch }} - ${{ matrix.group }} - ${{ matrix.os }}
+    name: Stable JL-${{ matrix.version }} - ${{ matrix.group }}
     runs-on: ${{ matrix.os }}
     env:
       JULIA_PKG_SERVER: ""
     strategy:
       fail-fast: false
       matrix:
         version:
-          - '1.11'
+          - 'lts'
         os:
           - ubuntu-latest
         arch:
@@ -26,26 +26,33 @@ jobs:
           - 'basic_functional_group'
           - 'test_cases_group'
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v2
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: julia-actions/cache@v1
+      - uses: julia-actions/cache@v2
       - uses: julia-actions/julia-buildpkg@v1
-      - uses: julia-actions/julia-runtest@v1
-        continue-on-error: ${{ matrix.version == 'nightly' }}
+      - name: Dev dependencies
+        shell: julia --project=monorepo {0}
+        run: |
+          using Pkg;
+          Pkg.develop([PackageSpec(path="IncrementalInference"), PackageSpec(path="IncrementalInferenceTypes")]);
+      - name: Run tests
+        continue-on-error: ${{ matrix.group == 'tmp_debug_group' }}
         env:
           IIF_TEST_GROUP: ${{ matrix.group }}
+        run: >
+          julia --color=yes --project=monorepo -e 'using Pkg; Pkg.test("IncrementalInference")'
       - uses: julia-actions/julia-processcoverage@v1
       - uses: codecov/codecov-action@v2
         with:
           files: lcov.info
           fail_ci_if_error: false
         if: ${{ matrix.version != 'nightly' }}
 
-  upstream-dev-functional:
-    name: Upstr Dev Functional
+  upstream-dev:
+    name: Develop JL-${{ matrix.version }} - ${{ matrix.group }}
     runs-on: ubuntu-latest
     env: 
       JULIA_PKG_SERVER: ""
@@ -55,105 +62,32 @@ jobs:
         arch: 
           - x64
         version:
-          - '~1.12.0-0'
+          - '1'
         group:
           - 'basic_functional_group'
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v2
-        with:
-          version: ${{ matrix.version }}
-          arch: ${{ matrix.arch }}
-      - uses: actions/cache@v4
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - run: |
-          git config --global user.name Tester
-          git config --global user.email te@st.er
-      - name: Upst Dev Functional
-        env:
-          IIF_TEST_GROUP: ${{ matrix.group }}
-        run: |
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));'
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"));' 
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("IncrementalInference"; coverage=false)'
-        shell: bash
-
-  upstream-dev-cases:
-    name: Upstr Dev Test Cases
-    runs-on: ubuntu-latest
-    env: 
-      JULIA_PKG_SERVER: ""
-    strategy:
-      fail-fast: false
-      matrix:
-        arch: 
-          - x64
-        version:
-          - '~1.12.0-0'
-        group:
           - 'test_cases_group'
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v2
-        with:
-          version: ${{ matrix.version }}
-          arch: ${{ matrix.arch }}
-      - uses: actions/cache@v4
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - run: |
-          git config --global user.name Tester
-          git config --global user.email te@st.er
-      - name: Upstr Dev Cases
-        env:
-          IIF_TEST_GROUP: ${{ matrix.group }}
-        run: |
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));'
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"));' 
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("IncrementalInference"; coverage=false)'
-        shell: bash
-
-  test-debug-group:
-    needs: [ upstream-dev-functional ]
-    name: JL${{ matrix.version }} - ${{ matrix.group }} - ${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
-    env:
-      JULIA_PKG_SERVER: ""
-    strategy:
-      fail-fast: false
-      matrix:
-        os:
-          - ubuntu-latest
-        version:
-          - '~1.12.0-0'
-        arch:
-          - x64
-        group:
           - 'tmp_debug_group'
-    continue-on-error: true
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v2
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: julia-actions/cache@v1
-      - uses: julia-actions/julia-buildpkg@v1
-      - uses: julia-actions/julia-runtest@v1
+      - uses: julia-actions/cache@v2
+      # - run: |
+      #     git config --global user.name Tester
+      #     git config --global user.email te@st.er
+      - name: Dev dependencies
+        shell: julia --project=monorepo {0}
+        run: |
+          using Pkg;
+          Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"))
+          Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));
+          Pkg.develop([PackageSpec(path="IncrementalInference"), PackageSpec(path="IncrementalInferenceTypes")]);
+      - name: Run tests
+        continue-on-error: ${{ matrix.group == 'tmp_debug_group' }}
         env:
           IIF_TEST_GROUP: ${{ matrix.group }}
+        run: >
+          julia --color=yes --project=monorepo -e 'using Pkg; Pkg.test("IncrementalInference")'
+          
diff --git a/IncrementalInference/src/Factors/LinearRelative.jl b/IncrementalInference/src/Factors/LinearRelative.jl
@@ -1,6 +1,40 @@
 
 export LinearRelative, PackedLinearRelative
 
+"""
+$(TYPEDEF)
+
+Default linear offset between two scalar variables.
+
+```math
+X_2 = X_1 + η_Z
+```
+"""
+struct LinearRelative{N, T <: SamplableBelief} <: AbstractManifoldMinimize # AbstractRelativeMinimize
+  Z::T
+end
+
+# need several helper constructors since the dimension over which LinearRelative will be used is unknown at this point
+function LinearRelative{N}(
+  z0::T = MvNormal(zeros(N), diagm(ones(N))),
+) where {N, T <: SamplableBelief}
+  #
+  return LinearRelative{N, T}(z0)
+end
+
+function LinearRelative(::UniformScaling = LinearAlgebra.I)
+  return LinearRelative{1}(MvNormal(zeros(1), diagm(ones(1))))
+end
+function LinearRelative(nm::Distributions.ContinuousUnivariateDistribution)
+  return LinearRelative{1, typeof(nm)}(nm)
+end
+LinearRelative(nm::MvNormal) = LinearRelative{length(nm.μ), typeof(nm)}(nm)
+function LinearRelative(nm::Union{<:BallTreeDensity, <:ManifoldKernelDensity})
+  return LinearRelative{Ndim(nm), typeof(nm)}(nm)
+end
+
+getManifold(::InstanceType{LinearRelative{N}}) where {N} = getManifold(ContinuousEuclid{N})
+
 # TODO standardize
 getDimension(::InstanceType{LinearRelative{N}}) where {N} = N
 
@@ -21,3 +55,24 @@ function Base.convert(
   return Manifolds.TranslationGroup(N)
 end
 
+"""
+$(TYPEDEF)
+Serialization type for `LinearRelative` binary factor.
+"""
+Base.@kwdef mutable struct PackedLinearRelative <: AbstractPackedFactor
+  Z::PackedSamplableBelief
+end
+function convert(::Type{PackedLinearRelative}, d::LinearRelative)
+  return PackedLinearRelative(convert(PackedSamplableBelief, d.Z))
+end
+function convert(::Type{LinearRelative}, d::PackedLinearRelative)
+  return LinearRelative(convert(SamplableBelief, d.Z))
+end
+function DFG.pack(d::LinearRelative)
+  return PackedLinearRelative(DFG.packDistribution(d.Z))
+end
+function DFG.unpack(d::PackedLinearRelative)
+  return LinearRelative(DFG.unpackDistribution(d.Z))
+end
+
+#
diff --git a/IncrementalInference/src/services/EvalFactor.jl b/IncrementalInference/src/services/EvalFactor.jl
@@ -345,7 +345,7 @@ function evalPotentialSpecific(
   maxlen = _beforeSolveCCW!(ccwl, variables, sfidx, N; solveKey, needFreshMeasurements, measurement)
   
   # Check which variables have been initialized
-  isinit = map(x -> isInitialized(x), variables)
+  isinit = map(x -> isInitialized(x, solveKey), variables)
   
   # assemble how hypotheses should be computed
   # nullSurplus see #1517
diff --git a/IncrementalInference/test/basicGraphsOperations.jl b/IncrementalInference/test/basicGraphsOperations.jl
@@ -26,7 +26,7 @@ end
 ##
 
 pts = [randn(1) for _ in 1:100]
-varT = LinearRelative{1}
+varT = LinearRelative(Normal(1.0))
 manikde!(varT, pts)
 
 
diff --git a/IncrementalInference/test/testSolveKey.jl b/IncrementalInference/test/testSolveKey.jl
@@ -32,7 +32,6 @@ IIF.setDefaultNodeData!(getVariable(fg, :a), 0, 100, 1, solveKey=:testSolveKey,
 
 initVariable!(fg, :a, pts, :testSolveKey)
 
-@test !isInitialized(fg, :a)
 @test isInitialized(fg, :a, :testSolveKey)
 
 ##
diff --git a/IncrementalInferenceTypes/Project.toml b/IncrementalInferenceTypes/Project.toml
@@ -15,12 +15,12 @@ StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
 
 [compat]
-Dates = "1.11.0"
-Distributed = "1.11.0"
+Dates = "1.10.0"
+Distributed = "1.10.0"
 DistributedFactorGraphs = "0.27.0"
 Distributions = "0.25.120"
 DocStringExtensions = "0.9.5"
-Manifolds = "=0.10.16"
+Manifolds = "0.10.16"
 RecursiveArrayTools = "3.33.0"
 StaticArrays = "1.9.13"
 StructTypes = "1.11.0"
diff --git a/IncrementalInferenceTypes/src/IncrementalInferenceTypes.jl b/IncrementalInferenceTypes/src/IncrementalInferenceTypes.jl
@@ -20,14 +20,14 @@ export
     Position4,
     ContinuousScalar,
     ContinuousEuclid,
-    Ciruclar
+    Circular
 
 #export factor types
 export 
     Prior,
     PackedPrior,
-    LinearRelative,
-    PackedLinearRelative,
+    # LinearRelative,
+    # PackedLinearRelative,
     CircularCircular,
     PriorCircular,
     PackedCircularCircular,
@@ -56,7 +56,7 @@ include("variables/DefaultVariableTypes.jl")
 # Factor Definitions
 include("factors/DefaultPrior.jl")
 #FIXME maybe upgrade linear relative to this
-include("factors/LinearRelative.jl")
+# include("factors/LinearRelative.jl")
 include("factors/Circular.jl")
 
 # Distribution Serialization
