Merge pull request #664 from JuliaRobotics/master

v0.10.5-rc1

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.10.4"
+version = "0.10.5"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/Deprecated.jl

@@ -125,3 +125,15 @@ function updateVariableSolverData!(dfg::AbstractDFG,
   Base.depwarn("updateVariableSolverData! argument verbose is deprecated in favor of keyword argument `warn_if_absent`, see #643", :updateVariableSolverData!)
   updateVariableSolverData!(dfg, variablekey, vnd, solveKey, useCopy, fields; warn_if_absent = verbose)
 end
+
+
+##==============================================================================
+## Deprecated in v0.11 Remove in the v0.12 cycle
+##==============================================================================
+
+export AbstractRelativeFactor, AbstractRelativeFactorMinimize
+
+const AbstractRelativeFactor = AbstractRelativeRoots
+const AbstractRelativeFactorMinimize = AbstractRelativeMinimize
+
+

src/DistributedFactorGraphs.jl

@@ -190,7 +190,7 @@ export addData!
 # Factor Data
 export GenericFunctionNodeData, PackedFunctionNodeData, FunctionNodeData
 export FunctorInferenceType, PackedInferenceType
-export AbstractPrior, AbstractRelativeFactor, AbstractRelativeFactorMinimize
+export AbstractPrior, AbstractRelative, AbstractRelativeRoots, AbstractRelativeMinimize
 export FactorOperationalMemory
 
 # accessors
@@ -306,6 +306,9 @@ if get(ENV, "DFG_USE_CGDFG", "") == "true"
 end
 
 function __init__()
+    @warn("BREAKING CHANGE v0.12: deprecating AbstractRelativeFactor, use AbstractRelativeRoots instead")
+    @warn("BREAKING CHANGE v0.12: deprecating AbstractRelativeFactorMinimize, use AbstractRelativeMinimize instead")
+
     @require GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231" begin
         @info "Including Plots"
         include("DFGPlots/DFGPlots.jl")

src/entities/DFGFactor.jl

@@ -13,8 +13,9 @@ abstract type FactorOperationalMemory <: Function end
 # abstract type ConvolutionObject <: FactorOperationalMemory end
 
 abstract type AbstractPrior <: FunctorInferenceType end
-abstract type AbstractRelativeFactor <: FunctorInferenceType end
-abstract type AbstractRelativeFactorMinimize <: FunctorInferenceType end
+abstract type AbstractRelative <: FunctorInferenceType end
+abstract type AbstractRelativeRoots <: AbstractRelative end
+abstract type AbstractRelativeMinimize <: AbstractRelative end
 
 ##==============================================================================
 ## GenericFunctionNodeData