add setMarginalized!

Author: dehann

src/DistributedFactorGraphs.jl

@@ -180,7 +180,7 @@ export VariableNodeData, PackedVariableNodeData
 
 export packVariableNodeData, unpackVariableNodeData
 
-export getSolvedCount, isSolved, setSolvedCount!, isInitialized, isMarginalized
+export getSolvedCount, isSolved, setSolvedCount!, isInitialized, isMarginalized, setMarginalized!
 
 export getNeighborhood, getNeighbors, _getDuplicatedEmptyDFG
 export findFactorsBetweenNaive

src/services/DFGVariable.jl

@@ -201,6 +201,17 @@ Notes:
 isMarginalized(vert::DFGVariable, solveKey::Symbol=:default) = getSolverData(vert, solveKey).ismargin
 isMarginalized(dfg::AbstractDFG, sym::Symbol, solveKey::Symbol=:default) = isMarginalized(DFG.getVariable(dfg, sym), solveKey)
 
+"""
+    $SIGNATURES
+
+Mark a variable as marginalized `true` or `false`.
+"""
+function setMarginalized!(vnd::VariableNodeData, val::Bool)
+  vnd.ismargin = val
+end
+setMarginalized!(vari::DFGVariable, val::Bool, solveKey::Symbol=:default) = setMarginalized!(getSolverData(vari, solveKey), val)
+setMarginalized!(dfg::AbstractDFG, sym::Symbol, val::Bool, solveKey::Symbol=:default) = setMarginalized!(getVariable(dfg, sym), val, solveKey)
+
 
 ##==============================================================================
 ## Variables