Merge pull request #1643 from JuliaRobotics/22Q4/depr/rm_calcCovarian…

…ceBasic Cleanup calcCovarianceBasic
JuliaRobotics · Dec 15, 2022 · 9685c9d · 9685c9d
2 parents 32e32f5 + 2946255
commit 9685c9d
Show file tree

Hide file tree

Showing 4 changed files with 2 additions and 5 deletions.
diff --git a/src/VariableStatistics.jl b/src/VariableStatistics.jl
@@ -18,7 +18,6 @@ function Statistics.cov(
   return cov(getManifold(vartype), ptsArr; basis, kwargs...)
 end
 
-# To replace calcCovarianceBasic
 function calcStdBasicSpread(vartype::InferenceVariable, ptsArr::Vector{P}) where {P}
   σ = std(vartype, ptsArr)
 

diff --git a/src/services/EvalFactor.jl b/src/services/EvalFactor.jl
@@ -72,7 +72,6 @@ function calcVariableDistanceExpectedFractional(
 )
   #
   if sfidx in certainidx
-    # msst_ = sqrt(calcCovarianceBasic(getManifold(ccwl.vartypes[sfidx]), ccwl.params[sfidx]))
     msst_ = calcStdBasicSpread(ccwl.vartypes[sfidx](), ccwl.params[sfidx])
     return kappa * msst_
   end
@@ -473,7 +472,6 @@ function evalPotentialSpecific(
 
   # view on elements marked for nullhypo
   addEntrNH = view(addEntr, nhmask)
-  # spreadDist = spreadNH*sqrt(calcCovarianceBasic(mani, addEntr))
   spreadDist = spreadNH * calcStdBasicSpread(getVariableType(Xi[sfidx]), addEntr)
   # partials are treated differently
   ipc = if !isPartial(ccwl) #ccwl.partial

diff --git a/test/testSpecialOrthogonalMani.jl b/test/testSpecialOrthogonalMani.jl
@@ -95,7 +95,7 @@ vnd = getVariableSolverData(fg, :x0)
 @test all(is_point.(Ref(M), vnd.val))
 
 points = sampleFactor(fg, :x0f1, 100)
-IIF.calcCovarianceBasic(SpecialOrthogonal(3), points)
+std(SpecialOrthogonal(3), points)
 
 ##
 v1 = addVariable!(fg, :x1, SO3)

diff --git a/test/testpartialconstraint.jl b/test/testpartialconstraint.jl
@@ -315,7 +315,7 @@ X2 = getBelief(fg, :x2)
 @test_broken isapprox(mean(X2), [-20;10], atol=0.01)
 
 # check covariance is close too
-@test 0 < AMP.calcCovarianceBasic(getManifold(X2), getPoints(X2))
+@test 0 < var(getManifold(X2), getPoints(X2))
 
 @cast pts[i,j] := pts_[j][i]
 @test (Statistics.std(pts,dims=2)[1]-1.0) < 3.0