Make Values.TangentVector == VectorValues #50
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Hmm, this build failure is very mysterious because it doesn't happen on Linux and also this PR doesn't seem to touch anything related to it. I'll investigate. |
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I figured out the compile error. I have included a workaround, and I also made a proper fix that should appear in toolchains eventually: swiftlang/swift#31723 |
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@marcrasi This PR is great :) Since the |
Oh yes, done. |
ProfFan
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May 12, 2020
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(This is #49, rebased to feature/nlfg_with_manifold. I'm pasting the same description below.)
This sets
Values.TangentVectortoVectorValues, which allows a few nice improvements to the APIs:Valueusing aVectorValues, now all you need isvals.move(along: vectorval)instead of needing to loop over all the components and cast them.JacobianFactorinitializer that linearizes any error function, which simplifies the implementation oflinearize.Other API changes:
vals[key, as: Pose2.self]instead ofvals[key].baseAs(Pose2.self). This is necessary so thatValuesknows what type you are accessing and therefore knows how to convert its tangent vector to aVectorsuitable for inclusion inVectorValues.vals.insert(key, value)instead ofvals.insert(key, AnyDifferentiable(value). (It still gets stored as a type-erasedAnyDifferentiablethough).