Merge pull request #728 from JuliaRobotics/master

release v0.24.2-rc1
JuliaRobotics · Jan 24, 2024 · a59c94b · a59c94b
2 parents f0f6e3f + 57b2b48
commit a59c94b
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diff --git a/NEWS.md b/NEWS.md
@@ -4,7 +4,7 @@ RoME.jl follows semver, with only a few case specific exceptions.  Please see re
 
 ## v0.24
 
-- Manifolds based inertial odometry (preintegration).  Replaces previous 2016-2016 generation `InertialPose3` variables and factors.
+- Manifolds based inertial odometry (preintegration).  Replaces previous 2015-2016 generation `InertialPose3` variables and factors.
 - Testing enhancements and fixes to restore tests for RoMEPlotting and Caesar Docs.
 - Minor code updates for standardized usage of new PyCaesar.jl.
 

diff --git a/Project.toml b/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 = "0.24.1"
+version = "0.24.2"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"

diff --git a/src/canonical/GenerateHoneycomb.jl b/src/canonical/GenerateHoneycomb.jl
@@ -170,6 +170,13 @@ function _offsetHexLeg( fgl::AbstractDFG,
 end
 
 
+"""
+    $SIGNATURES
+
+Generate a graph with predetermined honeycomb structure.
+
+See also: [`generateGraph_Beehive!`](@ref), [`generateGraph_Hexagonal`](@ref)
+"""
 function generateGraph_Honeycomb!(poseCountTarget::Int=36;
                                   graphinit::Bool = false,
                                   dfg::AbstractDFG = LocalDFG{SolverParams}(solverParams=SolverParams(graphinit=graphinit)),  

diff --git a/src/factors/Inertial/IMUDeltaFactor.jl b/src/factors/Inertial/IMUDeltaFactor.jl
@@ -309,6 +309,11 @@ struct IMUMeasurements
     Σy::SMatrix{6,6,Float64}
 end
 
+"""
+$TYPEDEF
+
+Factor type for inertial odometry (preintegration).
+"""
 Base.@kwdef struct IMUDeltaFactor{T <: SamplableBelief} <: AbstractManifoldMinimize
     Z::T # NOTE dim is 9 as Δt is not included in covariance
     Δt::Float64

diff --git a/src/factors/Pose2D.jl b/src/factors/Pose2D.jl
@@ -25,7 +25,7 @@ DevNotes
 
 Related
 
-[`Pose3Pose3`](@ref), [`Point2Point2`](@ref), [`MutablePose2Pose2Gaussian`](@ref), [`DynPose2`](@ref), [`InertialPose3`](ref)
+[`Pose3Pose3`](@ref), [`Point2Point2`](@ref), [`MutablePose2Pose2Gaussian`](@ref), [`DynPose2`](@ref), [`IMUDeltaFactor`](@ref)
 """
 Base.@kwdef struct Pose2Pose2{T <: IIF.SamplableBelief} <: IIF.AbstractManifoldMinimize
   Z::T = MvNormal(Diagonal([1.0; 1.0; 1.0]))