Merge pull request #681 from JuliaRobotics/master

v0.10.7 rc1

Author: Affie

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.10.6"
+version = "0.10.7"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/Deprecated.jl

@@ -17,6 +17,10 @@ end
 ## Deprecated in v0.10 Remove in 0.11
 ##==============================================================================
 
+@deprecate getMaxPPE(est::AbstractPointParametricEst) getPPEMax(est)
+@deprecate getMeanPPE(est::AbstractPointParametricEst) getPPEMean(est)
+@deprecate getSuggestedPPE(est::AbstractPointParametricEst) getPPESuggested(est)
+
 @deprecate addVariableSolverData!(dfg::AbstractDFG, variablekey::Symbol, vnd::VariableNodeData, solveKey::Symbol) addVariableSolverData!(dfg, variablekey, vnd)
 
 @deprecate updatePPE!(dfg::AbstractDFG, variablekey::Symbol, ppe::AbstractPointParametricEst, ppekey::Symbol) updatePPE!(dfg, variablekey, ppe)

src/DistributedFactorGraphs.jl

@@ -149,7 +149,7 @@ export getVariableSolverData,
 # PPE TYPES
 export AbstractPointParametricEst
 export MeanMaxPPE
-export getMaxPPE, getMeanPPE, getSuggestedPPE, getLastUpdatedTimestamp
+export getPPEMax, getPPEMean, getPPESuggested, getLastUpdatedTimestamp
 
 # accessors
 

src/services/DFGFactor.jl

@@ -134,11 +134,18 @@ setSolverData!(f::DFGFactor, data::GenericFunctionNodeData) = f.solverData = dat
 
 Return `::Bool` on whether given factor `fc::Symbol` is a prior in factor graph `dfg`.
 """
-function isPrior(dfg::G, fc::Symbol)::Bool where G <: AbstractDFG
+function isPrior(dfg::AbstractDFG, fc::Symbol)
   fco = getFactor(dfg, fc)
-  getFactorType(fco) isa AbstractPrior
+  isPrior(getFactorType(fco))
 end
 
+function isPrior(::AbstractPrior)
+  return true
+end
+
+function isPrior(::AbstractRelative)
+  return false
+end
 
 ##==============================================================================
 ## Layer 2 CRUD (none) and Sets

src/services/DFGVariable.jl

@@ -5,11 +5,20 @@
 ## PointParametricEst
 ##==============================================================================
 "$(SIGNATURES)"
-getMaxPPE(est::AbstractPointParametricEst) = est.max
+getPPEMax(est::AbstractPointParametricEst) = est.max
+getPPEMax(fg::AbstractDFG, varlabel::Symbol, solveKey::Symbol=:Default) =
+                getPPE(fg, varlabel, solveKey) |> getPPEMax
+
 "$(SIGNATURES)"
-getMeanPPE(est::AbstractPointParametricEst) = est.mean
+getPPEMean(est::AbstractPointParametricEst) = est.mean
+getPPEMean(fg::AbstractDFG, varlabel::Symbol, solveKey::Symbol=:Default) =
+                getPPE(fg, varlabel, solveKey) |> getPPEMean
+                
 "$(SIGNATURES)"
-getSuggestedPPE(est::AbstractPointParametricEst) = est.suggested
+getPPESuggested(est::AbstractPointParametricEst) = est.suggested
+getPPESuggested(fg::AbstractDFG, varlabel::Symbol, solveKey::Symbol=:Default) =
+                getPPE(fg, varlabel, solveKey) |> getPPESuggested
+
 "$(SIGNATURES)"
 getLastUpdatedTimestamp(est::AbstractPointParametricEst) = est.lastUpdatedTimestamp
 
@@ -635,7 +644,7 @@ Notes
 Related
 getMeanPPE, getMaxPPE, getKDEMean, getKDEFit, getPPEs, getVariablePPEs
 """
-function getPPE(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:default)::AbstractPointParametricEst
+function getPPE(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:default)
     v = getVariable(dfg, variablekey)
     !haskey(v.ppeDict, ppekey) && error("PPE key '$ppekey' not found in variable '$variablekey'")
     return v.ppeDict[ppekey]

test/testBlocks.jl

@@ -21,8 +21,8 @@ struct TestSofttype2 <: InferenceVariable
 end
 
 
-struct TestFunctorInferenceType1 <: FunctorInferenceType end
-struct TestFunctorInferenceType2 <: FunctorInferenceType end
+struct TestFunctorInferenceType1 <: AbstractRelative end
+struct TestFunctorInferenceType2 <: AbstractRelative end
 
 struct TestAbstractPrior <: AbstractPrior end
 struct TestAbstractRelativeFactor <: AbstractRelativeFactor end
@@ -557,9 +557,9 @@ function  PPETestBlock!(fg, v1)
     # Add a new PPE of type MeanMaxPPE to :x0
     ppe = MeanMaxPPE(:default, [0.0], [0.0], [0.0])
 
-    @test getMaxPPE(ppe) === ppe.max
-    @test getMeanPPE(ppe) === ppe.mean
-    @test getSuggestedPPE(ppe) === ppe.suggested
+    @test getPPEMax(ppe) === ppe.max
+    @test getPPEMean(ppe) === ppe.mean
+    @test getPPESuggested(ppe) === ppe.suggested
     @test getLastUpdatedTimestamp(ppe) === ppe.lastUpdatedTimestamp
 
     @test addPPE!(fg, :a, ppe) == ppe
@@ -569,6 +569,11 @@ function  PPETestBlock!(fg, v1)
     # Get the data back - note that this is a reference to above.
     @test getPPE(fg, :a, :default) == ppe
 
+    @test getPPE(fg, :a, :default) == ppe
+    @test getPPEMean(fg, :a, :default) == ppe.mean
+    @test getPPEMax(fg, :a, :default) == ppe.max
+    @test getPPESuggested(fg, :a, :default) == ppe.suggested
+
     # Delete it
     @test deletePPE!(fg, :a, :default) == ppe