Standardise to use getManifold

JuliaRobotics · Oct 12, 2023 · f9af5ce · f9af5ce
1 parent bbed441
commit f9af5ce
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/src/Factors/Circular.jl b/src/Factors/Circular.jl
@@ -68,7 +68,7 @@ function getSample(cf::CalcFactor{<:PriorCircular})
 end
 
 function (cf::CalcFactor{<:PriorCircular})(m, p)
-  M = cf.manifold # getManifold(cf.factor)
+  M = getManifold(cf)
   Xc = vee(M, p, log(M, p, m))
   return Xc
 end

diff --git a/src/Factors/GenericFunctions.jl b/src/Factors/GenericFunctions.jl
@@ -243,7 +243,7 @@ DFG.getManifold(f::ManifoldPriorPartial) = f.M
 
 function getSample(cf::CalcFactor{<:ManifoldPriorPartial})
   Z = cf.factor.Z
-  M = cf.manifold # getManifold(cf.factor)
+  M = getManifold(cf)
   partial = collect(cf.factor.partial)
 
   return (samplePointPartial(M, Z, partial),)

diff --git a/src/manifolds/services/ManifoldSampling.jl b/src/manifolds/services/ManifoldSampling.jl
@@ -119,7 +119,7 @@ See also: [`getMeasurementParametric`](@ref)
 function getSample end
 
 function getSample(cf::CalcFactor{<:AbstractPrior})
-  M = cf.manifold # getManifold(cf.factor)
+  M = getManifold(cf)
   if hasfield(typeof(cf.factor), :Z)
     X = samplePoint(M, cf.factor.Z)
   else
@@ -132,7 +132,7 @@ function getSample(cf::CalcFactor{<:AbstractPrior})
 end
 
 function getSample(cf::CalcFactor{<:AbstractRelative})
-  M = cf.manifold # getManifold(cf.factor)
+  M =getManifold(cf)
   if hasfield(typeof(cf.factor), :Z)
     X = sampleTangent(M, cf.factor.Z)
   else

diff --git a/src/services/CalcFactor.jl b/src/services/CalcFactor.jl
@@ -192,7 +192,7 @@ end
 
 # the same as legacy, getManifold(ccwl.usrfnc!)
 getManifold(ccwl::CommonConvWrapper) = ccwl.manifold
-getManifold(cf::CalcFactor) = cf.manifold
+getManifold(cf::CalcFactor) = getManifold(cf.factor)
 
 function _resizePointsVector!(
   vecP::AbstractVector{P},