Merge pull request #991 from JuliaRobotics/master

v0.16.1-rc1

Author: dehann

Project.toml

@@ -2,7 +2,7 @@ name = "Caesar"
 uuid = "62eebf14-49bc-5f46-9df9-f7b7ef379406"
 keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics", "ROS"]
 desc = "Non-Gaussian simultaneous localization and mapping"
-version = "0.16.0"
+version = "0.16.1"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -39,6 +39,7 @@ NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
 NearestNeighbors = "b8a86587-4115-5ab1-83bc-aa920d37bbce"
 Optim = "429524aa-4258-5aef-a3af-852621145aeb"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
@@ -91,22 +92,23 @@ GeometryBasics = "0.4"
 ImageCore = "0.8, 0.9, 0.10"
 ImageDraw = "0.2"
 ImageMagick = "1"
-IncrementalInference = "0.33, 0.34"
+IncrementalInference = "0.34, 0.35"
 Interpolations = "0.14"
 JLD2 = "0.3, 0.4"
 JSON = "0.20, 0.21"
 JSON2 = "0.3, 0.4"
 JSON3 = "1"
 KernelDensityEstimate = "0.5"
 LasIO = "0.3"
-Manifolds = "0.8"
+Manifolds = "0.8, 0.9"
 MultivariateStats = "0.10"
 NLsolve = "4"
 NearestNeighbors = "0.4"
 Optim = "1"
+PrecompileTools = "1"
 ProgressMeter = "1"
 Reexport = "1"
-RoME = "0.21, 0.22, 0.23"
+RoME = "0.23, 0.24"
 Rotations = "1.1"
 StaticArrays = "1"
 StatsBase = "0.33, 0.34"

src/Caesar.jl

@@ -44,6 +44,7 @@ using
 using Optim
 
 using Reexport
+using PrecompileTools
 
 
 # import RoME: initfg # collision on RoME.initfg() since no parameters are given in both RoME and Caesar
@@ -100,4 +101,9 @@ include("../ext/WeakdepsPrototypes.jl")
 include("Deprecated.jl")
 
 
+@compile_workload begin
+  # In here put "toy workloads" that exercise the code you want to precompile
+  warmUpSolverJIT()
+end
+
 end