Use LieGroups.TranslationGroup

Author: Affie

IncrementalInference/src/Factors/EuclidDistance.jl

@@ -20,7 +20,7 @@ getDimension(::InstanceType{<:EuclidDistance}) = 1
 (s::CalcFactor{<:EuclidDistance})(z, x1, x2) = z .- norm(x2 .- x1)
 
 function Base.convert(::Type{<:MB.AbstractManifold}, ::InstanceType{EuclidDistance})
-  return Manifolds.TranslationGroup(1)
+  return LieGroups.TranslationGroup(1)
 end
 
 """

IncrementalInference/src/Factors/LinearRelative.jl

@@ -52,7 +52,7 @@ function Base.convert(
   ::Type{<:MB.AbstractManifold},
   ::InstanceType{LinearRelative{N}},
 ) where {N}
-  return Manifolds.TranslationGroup(N)
+  return LieGroups.TranslationGroup(N)
 end
 
 """

IncrementalInference/src/IncrementalInference.jl

@@ -20,6 +20,7 @@ using ManifoldsBase: ℝ, AbstractManifold, AbstractBasis, TypeParameter, Abstra
 
 import LieGroups
 using LieGroups: LieGroup, LieAlgebra, ProductLieGroup, hat, vee, compose, AbstractProductGroupOperation, AdditionGroupOperation, SpecialEuclideanGroup, SpecialOrthogonalGroup
+using LieGroups: TranslationGroup
 # using LieGroups: ProductGroupOperation, SemiDirectProductGroupOperation
 
 using RecursiveArrayTools: ArrayPartition

IncrementalInference/src/Serialization/services/SerializationMKD.jl

@@ -5,7 +5,7 @@
 # relies on later use of getManifold to give back the same <:AbstractManifold
 # NOTE added to DFG.@defVariable
 getVariableType(M::Euclidean{TypeParameter{Tuple{N}}}) where {N} = ContinuousEuclid(N)
-getVariableType(M::Manifolds.TranslationGroup{TypeParameter{Tuple{N}}}) where {N} = ContinuousEuclid(N)
+getVariableType(M::LieGroups.TranslationGroup{TypeParameter{Tuple{N}}}) where {N} = ContinuousEuclid(N)
 
 # getVariableType(M::RealCircleGroup) = Circular()
 # getVariableType(M::Circle) = error("Circle manifold is deprecated use RealCircleGroup, will come back when we generalize to non-group Riemannian")

IncrementalInference/src/manifolds/services/ManifoldsExtentions.jl

@@ -161,7 +161,7 @@ function DFG.getPointIdentity(
 end
 
 function DFG.getPointIdentity(
-  G::Manifolds.TranslationGroup{TypeParameter{Tuple{N}}},
+  G::LieGroups.TranslationGroup{TypeParameter{Tuple{N}}},
   ::Type{T} = Float64,
 ) where {N, T <: Real}
   return zeros(SVector{N, T})

IncrementalInference/src/services/SolverAPI.jl

@@ -387,7 +387,7 @@ function solveTree!(
 
   # perhaps duplicate current value
   if storeOld || opt.dbg
-    ss = listSupersolves(dfgl) .|> string
+    ss = listSolveKeys(dfgl) .|> string
     ss_ = ss[occursin.(r"default_", ss)] .|> x -> x[9:end]
     filter!(x -> occursin(r"^\d+$", x), ss_)  # ss_ = ss_[occursin.(r"^\d$",ss_)]
     allk = parse.(Int, ss_)

IncrementalInference/test/runtests.jl

@@ -1,5 +1,8 @@
 using Test
 
+# TODO remove, forcing conflict to use LieGroups
+using LieGroups: TranslationGroup
+
 TEST_GROUP = get(ENV, "IIF_TEST_GROUP", "all")
 
 # temporarily moved to start (for debugging)

IncrementalInferenceTypes/Project.toml

@@ -9,6 +9,7 @@ Distributed = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 DistributedFactorGraphs = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
+LieGroups = "6774de46-80ba-43f8-ba42-e41071ccfc5f"
 Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
@@ -20,6 +21,7 @@ Distributed = "1.10.0"
 DistributedFactorGraphs = "0.27.0"
 Distributions = "0.25.120"
 DocStringExtensions = "0.9.5"
+LieGroups = "0.1.2"
 Manifolds = "0.10.16"
 RecursiveArrayTools = "3.33.0"
 StaticArrays = "1.9.13"

IncrementalInferenceTypes/src/IncrementalInferenceTypes.jl

@@ -2,7 +2,9 @@ module IncrementalInferenceTypes
 
 using DistributedFactorGraphs
 using DocStringExtensions
-using Manifolds
+import Manifolds
+using LieGroups
+using LieGroups: TranslationGroup
 using Distributions
 using StaticArrays
 import StructTypes

IncrementalInferenceTypes/src/factors/DefaultPrior.jl

@@ -7,7 +7,7 @@ not recommended when non-Euclidean dimensions are used in variables.
 struct Prior{T} <: AbstractPrior
   Z::T
 end
-DFG.getManifold(pr::Prior) = TranslationGroup(getDimension(pr.Z))
+DFG.getManifold(pr::Prior) = LieGroups.TranslationGroup(getDimension(pr.Z))
 
 """
 $(TYPEDEF)