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fix Pose2 preambleCache bug #562

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merged 3 commits into from
Mar 24, 2022
Merged

fix Pose2 preambleCache bug #562

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d4e8141
CF.cache not being set?
dehann Mar 16, 2022
f4d7610
fix Pose2 cache problem
dehann Mar 23, 2022
840c3fe
add q_hat/
dehann Mar 24, 2022
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20 changes: 15 additions & 5 deletions src/factors/Pose2D.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -20,16 +20,26 @@ DFG.getManifold(::InstanceType{Pose2Pose2}) = getManifold(Pose2) # Manifolds.Spe

Pose2Pose2(::UniformScaling) = Pose2Pose2()

function preambleCache(dfg::AbstractDFG, vars::AbstractVector{<:DFGVariable}, pp::Pose2Pose2)
M = getManifold(pp)
(;manifold=M, ϵ0=identity_element(M), Xc=zeros(3))
end

# Assumes X is a tangent vector
function (cf::CalcFactor{<:Pose2Pose2})(X, p, q)
@assert X isa ProductRepr "Pose2Pose2 expects measurement sample X to be a Manifolds tangent vector, not coordinate or point representation. Got X=$X"
M = getManifold(Pose2)
q̂ = Manifolds.compose(M, p, exp(M, identity_element(M, p), X)) #for groups

# @info "HERE" cf.cache
M = cf.cache.manifold # getManifold(Pose2)
ϵ0 = cf.cache.ϵ0

q̂ = Manifolds.compose(M, p, exp(M, ϵ0, X)) #for groups
# q̂ = Manifolds.compose(M, p, exp(M, identity_element(M, p), X)) #for groups
#TODO allocalte for vee! see Manifolds #412, fix for AD
Xc = zeros(3)
vee!(M, Xc, q, log(M, q, q̂))
return Xc
fill!(cf.cache.Xc, 0.0)
# Xc = zeros(3)
vee!(M, cf.cache.Xc, q, log(M, q, q̂))
return cf.cache.Xc
end


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