Merge pull request #968 from JuliaRobotics/23Q3/ext/weakdeps

dehann · web-flow · commit 3866bcca49e2 · 2023-07-17T18:07:41.000-07:00
fix test scatteralign
diff --git a/examples/dev/scalar/boxy.jl b/examples/dev/scalar/boxy.jl
@@ -66,7 +66,7 @@ IIF will deal with partials,
 DevNotes
 - FIXME ongoing (2021Q2), see #1206, likely also #1010
 """
-struct Point2Point2Northing{B <: IIF.SamplableBelief, T <: Tuple} <: IIF.AbstractRelativeMinimize
+struct Point2Point2Northing{B <: IIF.SamplableBelief, T <: Tuple} <: IIF.AbstractManifoldMinimize
   Z::B
   partial::T # which dimension the partial applies to 
 end
diff --git a/ext/factors/ScanMatcherPose2.jl b/ext/factors/ScanMatcherPose2.jl
@@ -19,7 +19,7 @@ arp2 = ScanMatcherPose2(img1, img2, 2) # e.g. 2 meters/pixel
 
 See also: [`overlayScanMatcher`](@ref)
 """
-struct ScanMatcherPose2{T} <: IIF.AbstractRelativeMinimize
+struct ScanMatcherPose2{T} <: IIF.AbstractManifoldMinimize
   """ reference image for scan matching. """
   im1::Matrix{T}
   """ test image to scan match against the reference image. """
diff --git a/ext/factors/ScatterAlignPose.jl b/ext/factors/ScatterAlignPose.jl
@@ -49,7 +49,7 @@ See also: [`ScatterAlignPose2`](@ref), [`ScatterAlignPose3`](@ref), [`overlaySca
 """
 Base.@kwdef struct ScatterAlign{P,
                                 H1 <: Union{<:ManifoldKernelDensity, <:HeatmapGridDensity},
-                                H2 <: Union{<:ManifoldKernelDensity, <:HeatmapGridDensity} } <: IIF.AbstractRelativeMinimize
+                                H2 <: Union{<:ManifoldKernelDensity, <:HeatmapGridDensity} } <: IIF.AbstractManifoldMinimize
   """ reference image for scan matching. """
   cloud1::H1
   """ test image to scan match against the reference image. """
@@ -79,7 +79,7 @@ Specialization of [`ScatterAlign`](@ref) for [`Pose2`](@ref).
 
 See also: [`ScatterAlignPose3`](@ref)
 """
-struct ScatterAlignPose2 <: IIF.AbstractRelativeMinimize
+struct ScatterAlignPose2 <: IIF.AbstractManifoldMinimize
   align::ScatterAlign{Pose2,<:Any,<:Any}
 end
 
@@ -92,7 +92,7 @@ Specialization of [`ScatterAlign`](@ref) for [`Pose3`](@ref).
 
 See also: [`ScatterAlignPose2`](@ref)
 """
-struct ScatterAlignPose3 <: IIF.AbstractRelativeMinimize
+struct ScatterAlignPose3 <: IIF.AbstractManifoldMinimize
   align::ScatterAlign{Pose3,<:Any,<:Any}
 end
 
diff --git a/test/testScatterAlignPose2.jl b/test/testScatterAlignPose2.jl
@@ -1,5 +1,6 @@
 # test ScatterAlignPose2
 
+# using Revise
 using Test
 using Images
 using Caesar
