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update for ManifoldDiff v0.4 backend #1851

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Dec 1, 2024
Merged

update for ManifoldDiff v0.4 backend #1851

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4 changes: 2 additions & 2 deletions Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -84,10 +84,10 @@ Interpolations = "0.15"
JSON3 = "1"
KernelDensityEstimate = "0.5.6"
LinearAlgebra = "1.10"
ManifoldDiff = "0.3"
ManifoldDiff = "0.3, 0.4"
Manifolds = "0.10"
ManifoldsBase = "0.15"
Manopt = "0.4.40, 0.5"
Manopt = "^0.5.3"
MetaGraphs = "0.7, 0.8"
Optim = "1"
OrderedCollections = "1"
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6 changes: 5 additions & 1 deletion src/parametric/services/ParametricOptim.jl
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Expand Up @@ -8,7 +8,11 @@ function optimizeManifold_FD(
)
# finitediff setup
r_backend = ManifoldDiff.TangentDiffBackend(
ManifoldDiff.FiniteDifferencesBackend()
if v"0.4" <= pkgversion(ManifoldDiff)
ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
else
ManifoldDiff.FiniteDifferencesBackend()
end
)

## finitediff gradient (non-manual)
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8 changes: 7 additions & 1 deletion src/services/FactorGradients.jl
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Expand Up @@ -6,7 +6,13 @@ function factorJacobian(
fg,
faclabel::Symbol,
p0 = ArrayPartition(first.(getVal.(fg, getVariableOrder(fg, faclabel), solveKey = :parametric))...),
backend = ManifoldDiff.TangentDiffBackend(ManifoldDiff.FiniteDiffBackend()),
backend = ManifoldDiff.TangentDiffBackend(
if v"0.4" <= pkgversion(ManifoldDiff)
ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
else
ManifoldDiff.FiniteDifferencesBackend()
end
)
)

fac = getFactor(fg, faclabel)
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16 changes: 13 additions & 3 deletions test/manifolds/factordiff.jl
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Expand Up @@ -97,11 +97,15 @@ function resid_SE2(X, p, q)
end


# finitediff setup
# finitediff setup
r_backend = ManifoldDiff.TangentDiffBackend(
ManifoldDiff.FiniteDifferencesBackend()
if v"0.4" <= pkgversion(ManifoldDiff)
ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
else
ManifoldDiff.FiniteDifferencesBackend()
end
)

Me = Euclidean(3)

function _factorJac!(J, z, p1, p2)
Expand All @@ -123,9 +127,15 @@ J_ = _factorJac!(J, z, p1, p2)
# @profview _factorJac!(J, z, p1, p2)

if false
# finitediff setup
z_backend = ManifoldDiff.TangentDiffBackend(
ManifoldDiff.ZygoteDiffBackend()
if v"0.4" <= pkgversion(ManifoldDiff)
ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
else
ManifoldDiff.FiniteDifferencesBackend()
end
)

g = ManifoldDiff.jacobian(M, Euclidean(3), f_SE2_x0, p1, z_backend)
else
@info "ManifoldDiff.ZygoteDiffBackend usage still under development (23Q3)"
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4 changes: 4 additions & 0 deletions test/manifolds/manifolddiff.jl
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Expand Up @@ -13,7 +13,11 @@ import Rotations as _Rot

# finitediff setup
r_backend = ManifoldDiff.TangentDiffBackend(
if v"0.4" <= pkgversion(ManifoldDiff)
ManifoldDiff.AutoFiniteDifferences(central_fdm(5, 1))
else
ManifoldDiff.FiniteDifferencesBackend()
end
)

##
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