Improved tests and bug fixes tests caught

Author: Affie

src/GraphsDFG/services/GraphsDFG.jl

@@ -195,7 +195,7 @@ end
     $(SIGNATURES)
 Delete a referenced DFGVariable from the DFG.
 """
-deleteVariable!(dfg::GraphsDFG, variable::DFGVariable)::DFGVariable = deleteVariable(dfg, variable.label)
+deleteVariable!(dfg::GraphsDFG, variable::DFGVariable)::DFGVariable = deleteVariable!(dfg, variable.label)
 
 """
     $(SIGNATURES)
@@ -451,7 +451,7 @@ Get a deep subgraph copy from the DFG given a list of variables and factors.
 Optionally provide an existing subgraph addToDFG, the extracted nodes will be copied into this graph. By default a new subgraph will be created.
 Note: By default orphaned factors (where the subgraph does not contain all the related variables) are not returned. Set includeOrphanFactors to return the orphans irrespective of whether the subgraph contains all the variables.
 """
-function getSubgraph(dfg::GraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false, addToDFG::GraphsDFG=GraphsDFG())::GraphsDFG
+function getSubgraph(dfg::GraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false, addToDFG::GraphsDFG=GraphsDFG{AbstractParams}())::GraphsDFG
     for label in variableFactorLabels
         if !haskey(dfg.labelDict, label)
             error("Variable/factor with label '$(label)' does not exist in the factor graph")

src/LightGraphsDFG/services/LightGraphsDFG.jl

@@ -196,7 +196,7 @@ end
     $(SIGNATURES)
 Delete a referenced DFGVariable from the DFG.
 """
-deleteVariable!(dfg::LightGraphsDFG, variable::DFGVariable)::DFGVariable = deleteVariable(dfg, variable.label)
+deleteVariable!(dfg::LightGraphsDFG, variable::DFGVariable)::DFGVariable = deleteVariable!(dfg, variable.label)
 
 """
     $(SIGNATURES)
@@ -476,7 +476,7 @@ Get a deep subgraph copy from the DFG given a list of variables and factors.
 Optionally provide an existing subgraph addToDFG, the extracted nodes will be copied into this graph. By default a new subgraph will be created.
 Note: By default orphaned factors (where the subgraph does not contain all the related variables) are not returned. Set includeOrphanFactors to return the orphans irrespective of whether the subgraph contains all the variables.
 """
-function getSubgraph(dfg::LightGraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false, addToDFG::LightGraphsDFG=LightGraphsDFG())::LightGraphsDFG
+function getSubgraph(dfg::LightGraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false, addToDFG::LightGraphsDFG=LightGraphsDFG{AbstractParams}())::LightGraphsDFG
     for label in variableFactorLabels
         if !haskey(dfg.g.metaindex[:label], label)
             error("Variable/factor with label '$(label)' does not exist in the factor graph")

test/interfaceTests.jl

@@ -2,6 +2,12 @@ dfg = testDFGAPI{NoSolverParams}()
 v1 = DFGVariable(:a)
 v2 = DFGVariable(:b)
 f1 = DFGFactor{Int, :Symbol}(:f1)
+
+#add tags for filters
+append!(v1.tags,[:VARIABLE, :POSE])
+append!(v2.tags, [:VARIABLE, :LANDMARK])
+append!(f1.tags, [:FACTOR])
+
 # @testset "Creating Graphs" begin
 global dfg,v1,v2,f1
 addVariable!(dfg, v1)
@@ -10,12 +16,40 @@ addFactor!(dfg, [v1, v2], f1)
 @test_throws Exception addFactor!(dfg, DFGFactor{Int, :Symbol}("f2"), [v1, DFGVariable("Nope")])
 # end
 
+@testset "Adding Removing Nodes" begin
+    dfg2 = testDFGAPI{NoSolverParams}()
+    v1 = DFGVariable(:a)
+    v2 = DFGVariable(:b)
+    v3 = DFGVariable(:c)
+    f1 = DFGFactor{Int, :Symbol}(:f1)
+    f2 = DFGFactor{Int, :Symbol}(:f2)
+    # @testset "Creating Graphs" begin
+    @test addVariable!(dfg2, v1)
+    @test addVariable!(dfg2, v2)
+    @test_throws ErrorException updateVariable!(dfg2, v3)
+    @test addVariable!(dfg2, v3)
+    @test_throws ErrorException addVariable!(dfg2, v3)
+    @test addFactor!(dfg2, [v1, v2], f1)
+    @test_throws ErrorException addFactor!(dfg2, [v1, v2], f1)
+    @test_throws ErrorException updateFactor!(dfg2, f2)
+    @test addFactor!(dfg2, [:b, :c], f2)
+    @test deleteVariable!(dfg2, v3) == v3
+    @test symdiff(ls(dfg2),[:a,:b]) == []
+    @test deleteFactor!(dfg2, f2) == f2
+    @test lsf(dfg2) == [:f1]
+end
+
 @testset "Listing Nodes" begin
     global dfg,v1,v2,f1
     @test length(ls(dfg)) == 2
     @test length(lsf(dfg)) == 1
     @test symdiff([:a, :b], getVariableIds(dfg)) == []
     @test getFactorIds(dfg) == [:f1]
+    #
+    @test lsf(dfg, :a) == [f1.label]
+    #tags
+    @test ls(dfg, tags=[:POSE]) == [:a]
+    @test symdiff(ls(dfg, tags=[:POSE, :LANDMARK]), ls(dfg, tags=[:VARIABLE])) == []
     # Regexes
     @test ls(dfg, r"a") == [v1.label]
     @test lsf(dfg, r"f*") == [f1.label]
@@ -137,6 +171,10 @@ end
     # Test adding to the dfg
     dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2, true, dfgSubgraph)
     @test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
+    #
+    dfgSubgraph = getSubgraph(dfg,[:x1, :x2, :x1x2f1])
+    # Only returns x1 and x2
+    @test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
 end
 
 @testset "Producing Dot Files" begin