Merge pull request #454 from JuliaRobotics/master

v0.15.2-rc1

NEWS.md

@@ -0,0 +1,10 @@
+# RoME.jl NEWS
+
+RoME.jl follows semver, with only a few case specific exceptions.  Please see repo's [Milestones](https://github.com/JuliaRobotics/RoME.jl/milestones?state=closed) page for a more complete list of changes.  This NEWS file lists select changes like to produce breaking changes downstream.  Note serious efforts are taken to have both breaking and smaller changes go through a proper deprecation and warning printout cycle, consistent with JuliaLang convention.
+
+## v0.15.1 -> v0.15.2 (New graph generators)
+
+- A new canonical generator's name is changed to `generateCanonicalFG_Honeycomb!` (#445), and instead keeping the previous but recent function name (#440) `Beehive` available for a different upcoming canonical graph generator.
+- Adding new `generateCanonicalFG_Helix2D!` plus convenience wrappers `Slew` and `Spiral`.
+- Deprecating `generateCanonicalFG_ZeroPose2` and replaced by `generateCanonicalFG_ZeroPose`, already defaulting to keyword `varType=Pose2`.
+

Project.toml

@@ -2,7 +2,7 @@ name = "RoME"
 uuid = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics"]
 desc = "Non-Gaussian simultaneous localization and mapping"
-version = "0.15.1"
+version = "0.15.2"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -34,11 +34,11 @@ TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
 [compat]
 ApproxManifoldProducts = "0.3.3"
 CoordinateTransformations = "0.5, 0.6, 0.7"
-DistributedFactorGraphs = "0.14.0"
-Distributions = "0.21, 0.22, 0.23, 0.24, 0.25"
+DistributedFactorGraphs = "0.14"
+Distributions = "0.23, 0.24, 0.25"
 DocStringExtensions = "0.7, 0.8"
 FileIO = "1"
-IncrementalInference = "0.24"
+IncrementalInference = "0.24.4"
 JLD2 = "0.3, 0.4"
 KernelDensityEstimate = "0.5.1, 0.6"
 Manifolds = "0.5"

src/AdditionalUtils.jl

@@ -0,0 +1,20 @@
+# Precompile Utilities
+
+"""
+    $SIGNATURES
+
+Load and solve a canonical or user factor graph to warm up---precompile---several RoME/Caesar related functions.
+"""
+function warmUpSolverJIT(;fg::AbstractDFG=generateCanonicalFG_Hexagonal(),
+                          drawtree::Bool=true )::Nothing
+  #
+
+  fcts = ls(fg, :x0)
+  fcts = ls(fg)
+  fcts = lsf(fg, :x0f1)
+  fcts = lsf(fg)
+  getSolverParams(fg).drawtree = drawtree
+  tree, smt, hist = solveTree!(fg)
+  nothing
+end
+