tweaks and updates Mtree

JuliaRobotics · Sep 4, 2023 · 5efed8d · 5efed8d
1 parent 3ec80c5
commit 5efed8d
Show file tree

Hide file tree

Showing 3 changed files with 15 additions and 10 deletions.
diff --git a/src/ApproxManifoldProducts.jl b/src/ApproxManifoldProducts.jl
@@ -29,7 +29,7 @@ using Distributions
 
 import Random: rand
 
-import Base: *, isapprox, convert
+import Base: *, isapprox, convert, show
 import LinearAlgebra: rotate!
 import Statistics: mean, std, cov, var
 import KernelDensityEstimate: getPoints, getBW

diff --git a/src/services/ManellicTree.jl b/src/services/ManellicTree.jl
@@ -18,27 +18,29 @@
 
 # Short for Manifold Ellipse Metric Tree
 # starting as a balanced tree, relax to unbalanced in future.
-struct ManellicTree{M,H,D<:AbstractVector,N}
+struct ManellicTree{M,D<:AbstractVector,N,HL,HT}
   manifold::M
   data::D
   permute::MVector{N,Int}
-  leaf_kernels::MVector{N,H}
-  tree_kernels::MVector{N,H}
+  leaf_kernels::MVector{N,HL}
+  tree_kernels::MVector{N,HT}
   left_idx::MVector{N,Int}
   right_idx::MVector{N,Int}
 end
 
 
-function Base.show(io::IO, mt::ManellicTree{M,H,D,N}) where {M,H,D,N}
+function Base.show(io::IO, mt::ManellicTree{M,D,N,HL,HT}) where {M,D,N,HL,HT}
   printstyled(io, "ManellicTree{"; bold=true,color = :blue)
   println(io)
-  printstyled(io, "  M = ", M, color = :magenta)
+  printstyled(io, "  M  = ", M, color = :magenta)
   println(io)
-  printstyled(io, "  H = ", H, color = :magenta)
+  printstyled(io, "  D  = ", D, color = :magenta)
   println(io)
-  printstyled(io, "  D = ", D, color = :magenta)
+  printstyled(io, "  N  = ", N, color = :magenta)
   println(io)
-  printstyled(io, "  N = ", N, color = :magenta)
+  printstyled(io, "  HL = ", HL, color = :magenta)
+  println(io)
+  printstyled(io, "  HT = ", HT, color = :magenta)
   println(io)
   printstyled(io, "}", bold=true, color = :blue)
   println(io, "(")

diff --git a/test/manellic/testManellicTree.jl b/test/manellic/testManellicTree.jl
@@ -38,10 +38,13 @@ end
 ##
 
 M = TranslationGroup(2)
-r_CC, R, pidx, r_CV = testEigenCoords(pi/3);
+α = pi/3
+r_CC, R, pidx, r_CV = testEigenCoords(α);
 ax_CCp, mask, knl = splitPointsEigen(M, r_CC)
 @test sum(mask) == (length(r_CC) ÷ 2)
 @test knl isa MvNormal
+Mr = SpecialOrthogonal(2)
+@test isapprox( α, vee(Mr, Identity(Mr), log_lie(Mr, R))[1] ; atol=0.1)
 
 # using GLMakie
 # fig = Figure()