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fix hms test #1771

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merged 2 commits into from
Sep 5, 2023
Merged

fix hms test #1771

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e6530d7
fix hms test, #1713
dehann Sep 5, 2023
bf60845
update NEWS
dehann Sep 5, 2023
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1 change: 1 addition & 0 deletions NEWS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ The list below highlights breaking changes according to normal semver workflow -
- Standardization improvements surrounding weakdeps code extensions.
- Code quality improvements along wiht refactoring and reorganizing of file names and locations.
- Restoring `DERelative` factors, although further fixes necessary beyond anticipated patch release v0.34.1.
- Switching to weakdep AMD.jl for `ccolmod` dependency, part of Julia 1.10 upgrade. Dropping `SuiteSparse_long` dependency. Further fixes necessary to restore full user constrained tree variable order functionality.

# Changes in v0.33

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2 changes: 1 addition & 1 deletion src/services/FactorGraph.jl
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Expand Up @@ -283,7 +283,7 @@ function setValKDE!(
end

function setBelief!(vari::DFGVariable, bel::ManifoldKernelDensity, setinit::Bool=true,ipc::AbstractVector{<:Real}=[0.0;])
setValKDE!(vari,getPoints(bel),setinit, ipc)
setValKDE!(vari,getPoints(bel, false),setinit, ipc)
end

"""
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21 changes: 11 additions & 10 deletions test/testSpecialEuclidean2Mani.jl
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Expand Up @@ -331,7 +331,7 @@ end

@testset "test propagateBelief w HeatmapSampler and init for PartialPriorPassThrough w Priors" begin
##
@test_broken begin

fg = initfg()

v0 = addVariable!(fg, :x0, SpecialEuclidean2)
Expand Down Expand Up @@ -390,8 +390,8 @@ doautoinit!(fg, :x0)
@test length(getPoints(getBelief(fg, :x0))) == getSolverParams(fg).N # 120
# @info "PassThrough transfers the full point count to the graph, unless a product is calculated during the propagateBelief step."



##
# @test_broken begin
## check the partials magic

dens, ipc = propagateBelief(fg,:x0,:)
Expand Down Expand Up @@ -438,13 +438,13 @@ solveGraph!(fg);
## check saveDFG (check consistency of packing converters above)


saveDFG("/tmp/passthru", fg)
fg_ = loadDFG("/tmp/passthru.tar.gz")
Base.rm("/tmp/passthru.tar.gz")
saveDFG(joinpath(tempdir(),"passthru"), fg)
fg_ = loadDFG(joinpath(tempdir(),"passthru.tar.gz"))
Base.rm(joinpath(tempdir(),"passthru.tar.gz"))

@error "#FIXME test propagateBelief w HeatmapSampler ... broken on ci but not local"
return true
end
# @error "#FIXME test propagateBelief w HeatmapSampler ... broken on ci but not local"
# return true
# end

##
end
Expand Down Expand Up @@ -531,8 +531,8 @@ end


@testset "Test SpecialEuclidean(2) to TranslationGroup(2) multihypo" begin

##

fg = initfg()
# fg.solverParams.attemptGradients=false

Expand Down Expand Up @@ -603,6 +603,7 @@ end

@testset "Test SpecialEuclidean(2) to SpecialEuclidean(2) multihypo" begin
##

fg = initfg()
# fg.solverParams.attemptGradients=false

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