Merge pull request #538 from JuliaRobotics/prep/3Q20/090

cleanup for tagging

Author: dehann

docs/src/variable_factor_serialization.md

@@ -18,7 +18,7 @@ using IncrementalInference, RoME
 
 # Make a variable and a factor:
 # Make a simple graph
-dfg = GraphsDFG{SolverParams}(params=SolverParams())
+dfg = LightDFG{SolverParams}(params=SolverParams())
 # Add the first pose :x0
 x0 = addVariable!(dfg, :x0, Pose2)
 # Add at a fixed location PriorPose2 to pin :x0 to a starting location (10,10, pi/4)
@@ -44,7 +44,7 @@ using IncrementalInference, RoME
 
 # Make a variable and a factor:
 # Make a simple graph
-dfg = GraphsDFG{SolverParams}(params=SolverParams())
+dfg = LightDFG{SolverParams}(params=SolverParams())
 # Add the first pose :x0
 x0 = addVariable!(dfg, :x0, Pose2)
 # Add at a fixed location PriorPose2 to pin :x0 to a starting location (10,10, pi/4)

src/Deprecated.jl

@@ -4,56 +4,23 @@
 
 
 ##==============================================================================
-## Remove in 0.9
+## Remove in 0.10
 ##==============================================================================
 
-import Base: *
-
-function *(a::Symbol, b::AbstractString)
-  @warn "product * on ::Symbol ::String has been deprecated, please use Symbol(string(a,b)) or Symbol(a,b) directly"
-  Symbol(string(a,b))
-end
-
-setTimestamp!(f::FactorDataLevel1, ts::DateTime) = error("setTimestamp!(f::FactorDataLevel1, ts::DateTime) is deprecated")
-
-export GraphsDFG
-struct GraphsDFG{AbstractParams}
-  GraphsDFG{T}() where T = error("GraphsDFG is deprecated, use LightDFG, see https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/398")
-end
-GraphsDFG(args...; kwargs...) = GraphsDFG{AbstractParams}()
-GraphsDFG{T}(args...; kwargs...) where T = GraphsDFG{T}()
-
+export listSolvekeys
 
-@deprecate getInternalId(args...) error("getInternalId is no longer in use")
+@deprecate listSolvekeys(x...) listSolveKeys(x...)
 
-@deprecate loadDFG(source::AbstractString, iifModule::Module, dest::AbstractDFG) loadDFG!(dest, source)
-@deprecate loadDFG(dest::AbstractDFG, source::AbstractString) loadDFG!(dest, source)
+export InferenceType
+export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
 
-# leave a bit longer
-export buildSubgraphFromLabels!
-function buildSubgraphFromLabels!(dfg::AbstractDFG,
-                                  syms::Vector{Symbol};
-                                  subfg::AbstractDFG=LightDFG(solverParams=getSolverParams(dfg)),
-                                  solvable::Int=0,
-                                  allowedFactors::Union{Nothing, Vector{Symbol}}=nothing  )
-  error("""buildSubgraphFromLabels! is deprecated
-        NOTE buildSubgraphFromLabels! does not have a 1-1 replacement in DFG
-        - if you have a set of variables and factors use copyGraph
-        - if you want neighbors automatically included use buildSubgraph
-        - if you want a clique subgraph use buildCliqueSubgraph! from IIF
-        """)
-
-end
+abstract type InferenceType end
 
 # These will become AbstractPrior, AbstractRelativeFactor, and AbstractRelativeFactorMinimize in 0.9.
 abstract type FunctorSingleton <: FunctorInferenceType end
 abstract type FunctorPairwise <: FunctorInferenceType end
 abstract type FunctorPairwiseMinimize <: FunctorInferenceType end
 
-##==============================================================================
-## Remove in 0.10
-##==============================================================================
-
 # I don't know how to deprecate this, any suggestions?
 const AbstractBigDataEntry = AbstractDataEntry
 

src/DistributedFactorGraphs.jl

@@ -55,11 +55,6 @@ export emptyUserData!, emptyRobotData!, emptySessionData!
 
 # Graph Types: exported from modules or @reexport
 export InMemoryDFGTypes, DefaultDFG
-# LightDFG
-# GraphsDFG
-
-# CloudGraphsDFG
-# FileDFG
 
 # AbstractDFG Interface
 export exists,
@@ -68,7 +63,7 @@ export exists,
        updateVariable!, updateFactor!,
        deleteVariable!, deleteFactor!,
        listVariables, listFactors,
-       listSolvekeys, listSupersolves,
+       listSolveKeys, listSupersolves,
        getVariables, getFactors,
        isVariable, isFactor
 
@@ -181,10 +176,9 @@ export addData!, fetchData, fetchDataEntryBlob
 ##------------------------------------------------------------------------------
 # Factor Data
 export GenericFunctionNodeData, PackedFunctionNodeData, FunctionNodeData
-export InferenceType, PackedInferenceType, FunctorInferenceType, FactorOperationalMemory
+export FunctorInferenceType, PackedInferenceType
 export AbstractPrior, AbstractRelativeFactor, AbstractRelativeFactorMinimize
-#Deprecated
-export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
+export FactorOperationalMemory
 
 # accessors
 export getVariableOrder
@@ -259,7 +253,7 @@ include("entities/AbstractDFGSummary.jl")
 include("services/AbstractDFG.jl")
 
 # In Memory Types
-# include("GraphsDFG/GraphsDFG.jl")
+# include("../attic/GraphsDFG/GraphsDFG.jl")
 # @reexport using .GraphsDFGs
 include("LightDFG/LightDFG.jl")
 @reexport using .LightDFGs

src/entities/DFGFactor.jl

@@ -2,10 +2,8 @@
 ## Abstract Types
 ##==============================================================================
 
-abstract type InferenceType end
-abstract type PackedInferenceType end
-
 abstract type FunctorInferenceType <: Function end
+abstract type PackedInferenceType end
 
 # NOTE DF, Convolution is IIF idea, but DFG should know about "FactorOperationalMemory"
 # DF, IIF.CommonConvWrapper <: FactorOperationalMemory #
@@ -30,9 +28,9 @@ Notes
 
 Designing (WIP)
 - T <: Union{FactorOperationalMemory, PackedInferenceType}
-- in IIF.CCW{T <: DFG.InferenceType}
-- in IIF.FunctorPairwiseMinimize <: InferenceType # DFG whatever, something, we'll figure it out
-- in Main/User, SomeFactor <: FunctorPairwiseMinimize
+- in IIF.CCW{T <: DFG.FunctorInferenceType}
+- in DFG.AbstractRelativeFactorMinimize <: FunctorInferenceType
+- in Main.SomeFactor <: AbstractRelativeFactorMinimize
 """
 mutable struct GenericFunctionNodeData{T<:Union{PackedInferenceType, FunctorInferenceType, FactorOperationalMemory}}
     eliminated::Bool