Merge pull request #80 from JuliaRobotics/feature/graphplot

Add GraphPlot.jl plots Issue #78

Author: dehann

src/DFGPlots/DFGPlots.jl

@@ -0,0 +1,59 @@
+module DFGPlots
+
+using Colors
+using LightGraphs
+using MetaGraphs
+using GraphPlot
+import GraphPlot: gplot
+
+using ...DistributedFactorGraphs
+
+export
+    dfgplot,
+    DFGPlotProps
+
+struct DFGPlotProps
+    nodefillc::NamedTuple{(:var,:fac),Tuple{RGB,RGB}}
+    nodesize::NamedTuple{(:var,:fac),Tuple{Float64,Float64}}
+    shape::NamedTuple{(:var,:fac),Tuple{Symbol,Symbol}} #not upported yet
+
+    layout::Function #spring_layout, spectral_layout
+    drawlabels::Bool
+end
+
+DFGPlotProps() = DFGPlotProps(  (var=colorant"seagreen", fac=colorant"cyan3"),
+                                (var=1.0, fac=0.3),
+                                (var=:box, fac=:elipse),
+                                spring_layout,
+                                true)
+
+
+function dfgplot(dfg::LightGraphsDFG)
+
+    nodesize = [has_prop(dfg.g,i,:factor) ? 0.3 : 1.0 for i=vertices(dfg.g)]
+    nodelabel = [has_prop(dfg.g,i,:factor) ? "" : string(get_prop(dfg.g,i,:label)) for i=vertices(dfg.g)]
+    nodefillc = [has_prop(dfg.g,i,:factor) ? colorant"seagreen" : colorant"cyan3" for i=vertices(dfg.g)]
+
+    gplot(dfg.g, nodelabel=nodelabel, nodesize=nodesize, nodefillc=nodefillc, layout=spectral_layout)
+
+end
+
+function gplot(dfg::LightGraphsDFG; keyargs...)
+    gplot(dfg.g; keyargs...)
+end
+
+function dfgplot(dfg::AbstractDFG)
+    # TODO implement convert functions
+    @warn "TODO Implement convert"
+    ldfg = LightGraphsDFG{AbstractParams}()
+    DistributedFactorGraphs._copyIntoGraph!(dfg, ldfg, union(getVariableIds(dfg), getFactorIds(dfg)), true)
+
+    nodesize = [has_prop(ldfg.g,i,:factor) ? 0.3 : 1.0 for i=vertices(ldfg.g)]
+    nodelabel = [has_prop(ldfg.g,i,:factor) ? "" : string(get_prop(ldfg.g,i,:label)) for i=vertices(ldfg.g)]
+    nodefillc = [has_prop(ldfg.g,i,:factor) ? colorant"seagreen" : colorant"cyan3" for i=vertices(ldfg.g)]
+
+    gplot(ldfg.g, nodelabel=nodelabel, nodesize=nodesize, nodefillc=nodefillc, layout=spectral_layout)
+
+end
+
+end

src/DistributedFactorGraphs.jl

@@ -79,6 +79,12 @@ function __init__()
     # Include the Cloudgraphs API
     include("CloudGraphsDFG/CloudGraphsDFG.jl")
   end
+
+  @require GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231" begin
+      include("DFGPlots/DFGPlots.jl")
+      @reexport using .DFGPlots
+  end
+
 end
 
 # not sure where to put