Merge pull request #503 from JuliaRobotics/feat/2Q20/cpss

deepcopySupersolve!

Author: dehann

src/DistributedFactorGraphs.jl

@@ -130,7 +130,9 @@ export getVariableSolverData,
        updateVariableSolverData!,
        deleteVariableSolverData!,
        listVariableSolverData,
-       mergeVariableSolverData!
+       mergeVariableSolverData!,
+       deepcopySolvekeys!,
+       deepcopySupersolve!
 
 
 # PPE

src/services/DFGVariable.jl

@@ -425,6 +425,24 @@ function updateVariableSolverData!(dfg::AbstractDFG,
     end
 end
 
+"""
+    $SIGNATURES
+Duplicate a supersolve (solvekey).
+"""
+function deepcopySolvekeys!(dfg::AbstractDFG,
+                            dest::Symbol,
+                            src::Symbol;
+                            solvable::Int=0,
+                            labels=ls(dfg, solvable=solvable),
+                            verbose::Bool=false  )
+  #
+  foreach(x->updateVariableSolverData!(dfg, x,
+                                       getSolverData(getVariable(dfg,x), src),
+                                       dest, true, Symbol[], verbose ),
+          labels)
+end
+const deepcopySupersolve! = deepcopySolvekeys! 
+
 """
     $(SIGNATURES)
 Delete variable solver data, returns the deleted element.