Merge pull request #873 from JuliaRobotics/master

release v0.18.2-rc1

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.18.1"
+version = "0.18.2"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -26,9 +26,9 @@ UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 Unmarshal = "cbff2730-442d-58d7-89d1-8e530c41eb02"
 
 [compat]
-Colors = "0.8, 0.9, 0.10, 0.11, 0.12"
-Distributions = "0.18, 0.19, 0.20, 0.21, 0.22, 0.23, 0.24, 0.25, 1"
-DocStringExtensions = "0.8, 0.9, 0.10, 1"
+Colors = "0.10, 0.11, 0.12"
+Distributions = "0.23, 0.24, 0.25"
+DocStringExtensions = "0.8"
 Graphs = "1.4"
 GraphPlot = "0.5.0"
 JSON = "0.21"
@@ -37,12 +37,12 @@ LightGraphs = "1.2, 1.3"
 ManifoldsBase = "0.11, 0.12"
 Neo4j = "2"
 Pkg = "1.4, 1.5"
-Reexport = "0.2, 0.3, 0.4, 0.5, 1"
-Requires = "0.5, 1"
+Reexport = "1"
+Requires = "1"
 TensorCast = "0.3.3, 0.4"
 TimeZones = "1.3.1"
 Unmarshal = "0.4"
-julia = "1.4"
+julia = "1.6"
 
 [extras]
 GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"

src/Deprecated.jl

@@ -66,6 +66,13 @@ end
 ## Deprecate before v0.19
 ##=================================================================================
 
+# FIXME, change this to a deprecation in v0.19
+export deepcopySupersolve!, deepcopySolvekeys!
+const deepcopySupersolve! = cloneSolveKey!
+# @deprecate deepcopySupersolve!(w...;kw...) cloneSolveKey!(w...;kw...)
+const deepcopySolvekeys! = cloneSolveKey!
+# @deprecate deepcopySolvekeys!(w...;kw...) cloneSolveKey!(w...;kw...)
+
 @deprecate dfgplot(w...;kw...) plotDFG(w...;kw...)
 
 export FunctorInferenceType, PackedInferenceType
@@ -81,4 +88,14 @@ export DefaultDFG
 
 const DefaultDFG = LightDFG
 
+
+## ================================================================================
+## Deprecate before v0.20
+##=================================================================================
+
+# FIXME uncomment before start of v0.19
+# @deprecate deepcopySupersolve!(w...;kw...) cloneSolveKey!(w...;kw...)
+# @deprecate deepcopySolvekeys!(w...;kw...) cloneSolveKey!(w...;kw...)
+
+
 #

src/DistributedFactorGraphs.jl

@@ -154,8 +154,7 @@ export getVariableSolverData,
        deleteVariableSolverData!,
        listVariableSolverData,
        mergeVariableSolverData!,
-       deepcopySolvekeys!,
-       deepcopySupersolve!
+       cloneSolveKey!
 
 
 # PPE

src/services/DFGVariable.jl

@@ -113,9 +113,10 @@ Base.convert(::Type{<:AbstractManifold}, ::Union{<:T, Type{<:T}}) where {T <: In
     $SIGNATURES
 Interface function to return the `<:ManifoldsBase.AbstractManifold` object of `variableType<:InferenceVariable`.
 """
-getManifold(vari::DFGVariable) = getVariableType(vari) |> getManifold
 getManifold(::T) where {T <: InferenceVariable} = getManifold(T)
-
+getManifold(vari::DFGVariable) = getVariableType(vari) |> getManifold
+# covers both <:InferenceVariable and <:AbstractFactor
+getManifold(dfg::AbstractDFG, lbl::Symbol) = getManifold(dfg[lbl])
 
 """
     $SIGNATURES
@@ -680,12 +681,12 @@ function updateVariableSolverData!( dfg::AbstractDFG,
     updateVariableSolverData!(dfg, sourceVariable.label, vnd, useCopy, fields; warn_if_absent=warn_if_absent)
 end
 
-function updateVariableSolverData!(dfg::AbstractDFG,
-                                   sourceVariables::Vector{<:DFGVariable},
-                                   solveKey::Symbol=:default,
-                                   useCopy::Bool=true,
-                                   fields::Vector{Symbol}=Symbol[];
-                                   warn_if_absent::Bool=true)
+function updateVariableSolverData!( dfg::AbstractDFG,
+                                    sourceVariables::Vector{<:DFGVariable},
+                                    solveKey::Symbol=:default,
+                                    useCopy::Bool=true,
+                                    fields::Vector{Symbol}=Symbol[];
+                                    warn_if_absent::Bool=true)
     #I think cloud would do this in bulk for speed
     for var in sourceVariables
         updateVariableSolverData!(dfg, var.label, getSolverData(var, solveKey), useCopy, fields; warn_if_absent=warn_if_absent)
@@ -694,22 +695,38 @@ 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  )
-  #
-  for x in labels
-      sd = deepcopy(getSolverData(getVariable(dfg,x), src))
-      sd.solveKey = dest
-      updateVariableSolverData!(dfg, x, sd, true, Symbol[]; warn_if_absent=verbose )
-  end
+Duplicate a `solveKey`` into a destination from a source.
+
+Notes
+- Can copy between graphs, or to different solveKeys within one graph.
+"""
+function cloneSolveKey!(dest_dfg::AbstractDFG,
+                        dest::Symbol,
+                        src_dfg::AbstractDFG,
+                        src::Symbol;
+                        solvable::Int=0,
+                        labels=intersect(ls(dest_dfg, solvable=solvable), ls(src_dfg, solvable=solvable)),
+                        verbose::Bool=false  )
+    #
+    for x in labels
+        sd = deepcopy(getSolverData(getVariable(src_dfg, x), src))
+        sd.solveKey = dest
+        updateVariableSolverData!(dest_dfg, x, sd, true, Symbol[]; warn_if_absent=verbose )
+    end
+    
+    nothing
 end
-const deepcopySupersolve! = deepcopySolvekeys!
+
+function cloneSolveKey!( dfg::AbstractDFG,
+                dest::Symbol,
+                src::Symbol;
+                kw...  )
+    #
+    @assert dest != src "Must copy to a different solveKey within the same graph, $dest."
+    cloneSolveKey!(dfg, dest, dfg, src; kw...)
+end
+
+#
 
 """
     $(SIGNATURES)