fix test Manifolds.jl ProductRepr still happening #1717
Description
type Array has no field parts
Stacktrace:
[1] getproperty
@ ./Base.jl:37 [inlined]
[2] submanifold_components
@ ~/.julia/packages/Manifolds/crk30/src/product_representations.jl:27 [inlined]
[3] submanifold_components
@ ~/.julia/packages/Manifolds/crk30/src/product_representations.jl:26 [inlined]
[4] identity_element!(G::GroupManifold{ℝ, ProductManifold{ℝ, Tuple{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}}}, Manifolds.SemidirectProductOperation{RotationAction{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}, LeftAction}}}, q::Vector{Float64})
@ Manifolds ~/.julia/packages/Manifolds/crk30/src/groups/semidirect_product_group.jl:68
[5] identity_element(#unused#::ManifoldsBase.TraitList{IsGroupManifold{Manifolds.SemidirectProductOperation{RotationAction{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}, LeftAction}}}, ManifoldsBase.TraitList{IsExplicitDecorator, ManifoldsBase.EmptyTrait}}, G::GroupManifold{ℝ, ProductManifold{ℝ, Tuple{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}}}, Manifolds.SemidirectProductOperation{RotationAction{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}, LeftAction}}}, p::Vector{Float64})
@ Manifolds ~/.julia/packages/Manifolds/crk30/src/groups/group.jl:204
[6] identity_element
@ ~/.julia/packages/ManifoldsBase/ROusQ/src/nested_trait.jl:306 [inlined]
[7] makeCoordsFromPoint(M::GroupManifold{ℝ, ProductManifold{ℝ, Tuple{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}}}, Manifolds.SemidirectProductOperation{RotationAction{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}, LeftAction}}}, pt::Vector{Float64})
@ ApproxManifoldProducts ~/.julia/dev/ApproxManifoldProducts/src/Interface.jl:36
[8] getNumberCoords(M::GroupManifold{ℝ, ProductManifold{ℝ, Tuple{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}}}, Manifolds.SemidirectProductOperation{RotationAction{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}, LeftAction}}}, p::Vector{Float64})
@ ApproxManifoldProducts ~/.julia/dev/ApproxManifoldProducts/src/Interface.jl:40
[9] manikde!(variableType::SpecialEuclidean2, pts::Vector{Vector{Float64}}; kw::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/FGOSUtils.jl:125
[10] manikde!
@ ~/.julia/dev/IncrementalInference/src/services/FGOSUtils.jl:118 [inlined]
[11] setValKDE!(vd::VariableNodeData{SpecialEuclidean2, ArrayPartition{Float64, Tuple{SVector{2, Float64}, SMatrix{2, 2, Float64, 4}}}, 3}, val::Vector{Vector{Float64}}, setinit::Bool, ipc::Vector{Float64})
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/FactorGraph.jl:181
[12] setValKDE!(v::DFGVariable{SpecialEuclidean2, ArrayPartition{Float64, Tuple{SVector{2, Float64}, SMatrix{2, 2, Float64, 4}}}, 3}, val::Vector{Vector{Float64}}, setinit::Bool, ipc::Vector{Float64}; solveKey::Symbol)
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/FactorGraph.jl:208
[13] setValKDE!(v::DFGVariable{SpecialEuclidean2, ArrayPartition{Float64, Tuple{SVector{2, Float64}, SMatrix{2, 2, Float64, 4}}}, 3}, val::Vector{Vector{Float64}}, setinit::Bool, ipc::Vector{Float64})
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/FactorGraph.jl:200
[14] setBelief!(vari::DFGVariable{SpecialEuclidean2, ArrayPartition{Float64, Tuple{SVector{2, Float64}, SMatrix{2, 2, Float64, 4}}}, 3}, bel::MKD{GroupManifold{ℝ, ProductManifold{ℝ, Tuple{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}}}, Manifolds.SemidirectProductOperation{RotationAction{TranslationGroup{Tuple{2}, ℝ}, SpecialOrthogonal{2}, LeftAction}}}, BallTreeDensity, Vector{Int64}, ArrayPartition{Float64, Tuple{SVector{2, Float64}, SMatrix{2, 2, Float64, 4}}}}, setinit::Bool, ipc::Vector{Float64})
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/FactorGraph.jl:286
[15] doFMCIteration(fgl::GraphsDFG{SolverParams, DFGVariable, DFGFactor}, vsym::Symbol, solveKey::Symbol, cliq::IncrementalInference.TreeClique, fmsgs::Vector{LikelihoodMessage}, N::Int64, dbg::Bool, needFreshMeasurements::Bool, logger::Base.CoreLogging.SimpleLogger)
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/SolveTree.jl:74
[16] fmcmc!(fgl::GraphsDFG{SolverParams, DFGVariable, DFGFactor}, cliq::IncrementalInference.TreeClique, fmsgs::Vector{LikelihoodMessage}, lbls::Vector{Symbol}, solveKey::Symbol, N::Int64, MCMCIter::Int64, dbg::Bool, logger::Base.CoreLogging.SimpleLogger, multithreaded::Bool)
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/SolveTree.jl:123
[17] upGibbsCliqueDensity(dfg::GraphsDFG{SolverParams, DFGVariable, DFGFactor}, cliq::IncrementalInference.TreeClique, solveKey::Symbol, inmsgs::Vector{LikelihoodMessage}, N::Int64, dbg::Bool, iters::Int64, logger::Base.CoreLogging.SimpleLogger)
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/services/SolveTree.jl:231
[18] approxCliqMarginalUp!(csmc::WARNING: both Interpolations and Distributions export "scale"; uses of it in module IncrementalInference must be qualified
CliqStateMachineContainer{BayesTreeNodeData, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, MetaBayesTree}, childmsgs::Vector{LikelihoodMessage}; N::Int64, dbg::Bool, multiproc::Bool, logger::Base.CoreLogging.SimpleLogger, iters::Int64, drawpdf::Bool)
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/CliqueStateMachine/services/CliqStateMachineUtils.jl:401
[19] approxCliqMarginalUp! (repeats 2 times)
@ ~/.julia/dev/IncrementalInference/src/CliqueStateMachine/services/CliqStateMachineUtils.jl:349 [inlined]
[20] __doCliqUpSolveInitialized!(csmc::CliqStateMachineContainer{BayesTreeNodeData, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, MetaBayesTree})
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/CliqueStateMachine/services/CliqStateMachineUtils.jl:30
[21] solveUp_StateMachine(csmc::CliqStateMachineContainer{BayesTreeNodeData, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, MetaBayesTree})
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/CliqueStateMachine/services/CliqueStateMachine.jl:452
[22] (::StateMachine{CliqStateMachineContainer})(userdata::CliqStateMachineContainer{BayesTreeNodeData, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, MetaBayesTree}, timeout::Nothing; pollinterval::Float64, breakafter::Function, verbose::Bool, verbosefid::Base.TTY, verboseXtra::IncrementalInference.CliqStatus, iterlimit::Int64, injectDelayBefore::Nothing, recordhistory::Bool, housekeeping_cb::IncrementalInference.var"#531#533"{IncrementalInference.TreeClique, CliqStateMachineContainer{BayesTreeNodeData, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, MetaBayesTree}})
@ FunctionalStateMachine ~/.julia/packages/FunctionalStateMachine/2JZFG/src/StateMachine.jl:82
[23] initStartCliqStateMachine!(dfg::GraphsDFG{SolverParams, DFGVariable, DFGFactor}, tree::MetaBayesTree, cliq::IncrementalInference.TreeClique, timeout::Nothing; oldcliqdata::BayesTreeNodeData, verbose::Bool, verbosefid::Base.TTY, drawtree::Bool, show::Bool, incremental::Bool, limititers::Int64, upsolve::Bool, downsolve::Bool, recordhistory::Bool, delay::Bool, logger::Base.CoreLogging.SimpleLogger, solve_progressbar::ProgressMeter.ProgressUnknown, algorithm::Symbol, solveKey::Symbol)
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/CliqueStateMachine/services/CliqueStateMachine.jl:86
[24] initStartCliqStateMachine!
@ ~/.julia/dev/IncrementalInference/src/CliqueStateMachine/services/CliqueStateMachine.jl:10 [inlined]
[25] tryCliqStateMachineSolve!(dfg::GraphsDFG{SolverParams, DFGVariable, DFGFactor}, treel::MetaBayesTree, cliqKey::Int64, timeout::Nothing; oldtree::MetaBayesTree, verbose::Bool, verbosefid::Base.TTY, drawtree::Bool, limititers::Int64, downsolve::Bool, incremental::Bool, delaycliqs::Vector{Symbol}, recordcliqs::Vector{Symbol}, solve_progressbar::ProgressMeter.ProgressUnknown, algorithm::Symbol, solveKey::Symbol)
@ IncrementalInference ~/.julia/dev/IncrementalInference/src/SolverAPI.jl:146
[26] tryCliqStateMachineSolve!
@ ~/.julia/dev/IncrementalInference/src/SolverAPI.jl:111 [inlined]
[27] (::IncrementalInference.var"#582#585"{MetaBayesTree, Bool, Bool, Base.TTY, Bool, Bool, Vector{Symbol}, Vector{Symbol}, Symbol, Symbol, GraphsDFG{SolverParams, DFGVariable, DFGFactor}, MetaBayesTree, Nothing, ProgressMeter.ProgressUnknown, Int64, Int64})()
@ IncrementalInference ./task.jl:514