fix RAT dependency (#32)

* fix RAT dependancy

* up julia compat

---------

Co-authored-by: Johannes Terblanche <Affie@users.noreply.github.com>

.github/workflows/ci.yml

@@ -15,8 +15,8 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.6'
-          - '~1.9.0-0'
+          - '1.10'
+          - '~1.11.0-0'
           - 'nightly'
         os:
           - ubuntu-latest

.gitignore

@@ -0,0 +1 @@
+Manifest.toml

Project.toml

@@ -1,21 +1,23 @@
 name = "CameraModels"
 uuid = "0d57b887-6120-40e6-8b8c-29d3116bc0c1"
 keywords = ["camera", "model", "pinhole", "distortion", "robotics", "images"]
-version = "0.2.2"
+version = "0.2.3"
 
 [deps]
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
+RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [compat]
 DocStringExtensions = "0.8, 0.9"
 Manifolds = "0.8, 0.9, 0.10"
+RecursiveArrayTools = "3.27.0"
 Rotations = "1"
 StaticArrays = "1"
-julia = "1.6"
+julia = "1.10"
 
 [extras]
 Optim = "429524aa-4258-5aef-a3af-852621145aeb"

src/CameraModels.jl

@@ -6,7 +6,7 @@ using DocStringExtensions
 using StaticArrays
 import Rotations as Rot_
 import Base: getindex, getproperty, show
-
+using RecursiveArrayTools: ArrayPartition
 
 # exports
 include("ExportAPI.jl")

test/runtests.jl

@@ -1,6 +1,7 @@
 using CameraModels
 using Test
 using StaticArrays
+using RecursiveArrayTools: ArrayPartition
 
 import CameraModels: height, width
 

test/testutils.jl

@@ -35,8 +35,8 @@ l_nFL = [0; -0.05; 1.]
 l_FL = [0; 0; -2.]
 
 # local level to body to extrinsic transform 
-l_T_b = MJL.ArrayPartition([0;0;0.], R0)
-b_T_ex = MJL.ArrayPartition([0;0;0.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0.2;0.2])))
+l_T_b = ArrayPartition([0;0;0.], R0)
+b_T_ex = ArrayPartition([0;0;0.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0.2;0.2])))
 l_T_ex = MJL.compose(M, l_T_b, b_T_ex)
 
 # Ray trace
@@ -50,7 +50,7 @@ l_Forb = intersectRayToPlane(
 
 
 ## Place the body somewhere in the world
-w_T_b = MJL.ArrayPartition([0.;0.;2.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0;0.])))
+w_T_b = ArrayPartition([0.;0.;2.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0;0.])))
 # find feature points in the world frame
 _w_Forb = MJL.affine_matrix(M, w_T_b)*[l_Forb; 1.]