Merge branch 'master' of https://github.com/JuliaRobotics/DistributedFactorGraphs.jl.git into feature/IIFTests

Author: Affie

src/GraphsDFG/services/GraphsDFG.jl

@@ -7,7 +7,7 @@ function attributes(v::GraphsNode, g::T)::AttributeDict where T <:GenericInciden
     AttributeDict(
         "label" => v.dfgNode.label,
         "color" => v.dfgNode isa DFGVariable ? "red" : "blue",
-        "shape" => v.dfgNode isa DFGVariable ? "box" : "ellipse",
+        "shape" => v.dfgNode isa DFGVariable ? "ellipse" : "box",
         "fillcolor" => v.dfgNode isa DFGVariable ? "red" : "blue"
         )
 end

src/entities/DFGVariable.jl

@@ -15,6 +15,8 @@ mutable struct VariableNodeData
   inferdim::Float64
   ismargin::Bool
   dontmargin::Bool
+  # Tonio surprise TODO
+  # frontalonly::Bool
   # A valid, packable default constructor is needed.
   VariableNodeData() = new(zeros(1,1), zeros(1,1), Symbol[], Int[], 0, false, :NOTHING, Symbol[], "", false, false, false, false)
   VariableNodeData(x1::Array{Float64,2},

src/services/AbstractDFG.jl

@@ -472,22 +472,12 @@ Notes:
 - used by both factor graph variable and Bayes tree clique logic.
 """
 function isInitialized(var::DFGVariable; key::Symbol=:default)::Bool
-  	data = solverData(var, key)
-  	if data == nothing
-		@error "Variable does not have solver data $(key)"
-		return false
-  	else
-  		return solverData(var, key).initialized
-	end
+  solverData(var, key) != nothing && return solverData(var, key).initialized
+  return false
 end
 function isInitialized(fct::DFGFactor; key::Symbol=:default)::Bool
-	data = solverData(var, key)
-  	if data == nothing
-		@error "Factor does not have solver data $(key)"
-		return false
-  	else
-  		return solverData(fct, key).initialized
-	end
+  solverData(var, key) != nothing && return solverData(fct, key).initialized
+  return false
 end
 function isInitialized(dfg::G, label::Symbol; key::Symbol=:default)::Bool where G <: AbstractDFG
   return isInitialized(getVariable(dfg, label), key=key)

test/interfaceTests.jl

@@ -301,7 +301,7 @@ end
     addVariable!(dotdfg, v2)
     addFactor!(dotdfg, [v1, v2], f1)
 
-    @test toDot(dotdfg) == "graph graphname {\n2 [\"label\"=\"b\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n2 -- 3\n3 [\"label\"=\"f1\",\"shape\"=\"ellipse\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n1 [\"label\"=\"a\",\"shape\"=\"box\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n1 -- 3\n}\n"
+    @test toDot(dotdfg) == "graph graphname {\n2 [\"label\"=\"b\",\"shape\"=\"ellipse\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n2 -- 3\n3 [\"label\"=\"f1\",\"shape\"=\"box\",\"fillcolor\"=\"blue\",\"color\"=\"blue\"]\n1 [\"label\"=\"a\",\"shape\"=\"ellipse\",\"fillcolor\"=\"red\",\"color\"=\"red\"]\n1 -- 3\n}\n"
     @test toDotFile(dotdfg, "something.dot") == nothing
     Base.rm("something.dot")