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JuliaRobotics / ApproxManifoldProducts.jl

Approximate the product between infinite functional objects on a manifold -- i.e. belief products
MIT License
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New manifold kernel eval bug #286

Open dehann opened 4 months ago

dehann commented 4 months ago
dehann commented 4 months ago

Consolidated Malahanobis Usage

Working towards consolidation with Malahanobis operations in IIF parametric: https://github.com/JuliaRobotics/IncrementalInference.jl/blob/d470e902f1d774904ce383f7003e690fce6b81af/src/parametric/services/ParametricUtils.jl#L364-L374

as well as consolidation with RKHS work here: https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/blob/9250da2996e97d8a1ad74e3763afb67c714485b2/src/KernelHilbertEmbeddings.jl#L14

ker eval is: https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/blob/9250da2996e97d8a1ad74e3763afb67c714485b2/src/services/KernelEval.jl#L128

Current code

and also have efficient code, the current (unrolled) compute steps for evaluate in code are: https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/blob/9250da2996e97d8a1ad74e3763afb67c714485b2/src/services/KernelEval.jl#L36-L38

which uses Malahanobis definition: https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/blob/9250da2996e97d8a1ad74e3763afb67c714485b2/src/services/KernelEval.jl#L101-L105

which does the coordinate conversion via: https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/blob/9250da2996e97d8a1ad74e3763afb67c714485b2/src/services/KernelEval.jl#L86-L92

Would like

I would like to keep the unrolled structure and suggest we confirm that each of the unrolled steps in computing a MvNormal density are coming out right.

dehann commented 4 months ago

Should be in "local" coordinates, https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/blob/9250da2996e97d8a1ad74e3763afb67c714485b2/src/services/KernelEval.jl#L88