Merging master

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -63,8 +63,8 @@ getDescription(dfg::CloudGraphsDFG) = dfg.description
 setDescription(dfg::CloudGraphsDFG, description::String) = dfg.description = description
 getAddHistory(dfg::CloudGraphsDFG) = dfg.addHistory
 getSolverParams(dfg::CloudGraphsDFG) = dfg.solverParams
-function setSolverParams(dfg::CloudGraphsDFG, solverParams::T) where T <: AbstractParams
-    dfg.solverParams = solverParams
+function setSolverParams(dfg::CloudGraphsDFG, solverParams::T)::T where T <: AbstractParams
+    return dfg.solverParams = solverParams
 end
 
 """
@@ -753,11 +753,11 @@ Get a deep subgraph copy from the DFG given a list of variables and factors.
 Optionally provide an existing subgraph addToDFG, the extracted nodes will be copied into this graph. By default a new subgraph will be created.
 Note: By default orphaned factors (where the subgraph does not contain all the related variables) are not returned. Set includeOrphanFactors to return the orphans irrespective of whether the subgraph contains all the variables.
 """
-function getSubgraph(dfg::CloudGraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false, addToDFG::Union{Nothing, CloudGraphsDFG}=nothing)::CloudGraphsDFG
+function getSubgraph(dfg::CloudGraphsDFG,
+                     variableFactorLabels::Vector{Symbol},
+                     includeOrphanFactors::Bool=false,
+                     addToDFG::G=_getDuplicatedEmptyDFG(dfg) )::G where {G <: AbstractDFG}
     # Making a copy session if not specified
-    if addToDFG == nothing
-        addToDFG = _getDuplicatedEmptyDFG(dfg)
-    end
 
     _copyIntoGraph!(dfg, addToDFG, variableFactorLabels, includeOrphanFactors)
 

src/Common.jl

@@ -1,11 +1,18 @@
-
 export sortVarNested
 export isPrior, lsfPriors
 export getVariableType, getSofttype
 export getFactorType, getfnctype
 export lsTypes, lsfTypes
 export lsWho, lsfWho
 
+## Utility functions for getting type names and modules (from IncrementalInference)
+function _getmodule(t::T) where T
+  T.name.module
+end
+function _getname(t::T) where T
+  T.name.name
+end
+
 """
     $(SIGNATURES)
 Test if all elements of the string is a number:  Ex, "123" is true, "1_2" is false.
@@ -223,10 +230,38 @@ function lsTypes(dfg::G)::Dict{Symbol, Vector{String}} where G <: AbstractDFG
 end
 
 
+function ls(dfg::G, ::Type{T}; solveKey::Symbol=:default) where {G <: AbstractDFG, T <: InferenceVariable}
+  xx = getVariables(dfg)
+  mask = getVariableType.(xx, solveKey=solveKey) .|> typeof .== T
+  vxx = view(xx, mask)
+  map(x->x.label, vxx)
+end
+
+
+function ls(dfg::G, ::Type{T}) where {G <: AbstractDFG, T <: FunctorInferenceType}
+  xx = getFactors(dfg)
+  names = getfield.(typeof.(getFactorType.(xx)), :name) .|> Symbol
+  vxx = view(xx, names .== Symbol(T))
+  map(x->x.label, vxx)
+end
+
+function lsf(dfg::G, ::Type{T}) where {G <: AbstractDFG, T <: FunctorInferenceType}
+  ls(dfg, T)
+end
+
+
 """
     $(SIGNATURES)
 Gives back all factor labels that fit the bill:
 	lsWho(dfg, :Pose3)
+
+Dev Notes
+- Cloud versions will benefit from less data transfer
+ - `ls(dfg::C, ::T) where {C <: CloudDFG, T <: ..}`
+
+Related
+
+ls, lsf, lsfPriors
 """
 function lsWho(dfg::AbstractDFG, type::Symbol; solveKey::Symbol=:default)::Vector{Symbol}
     vars = getVariables(dfg)
@@ -243,6 +278,14 @@ end
     $(SIGNATURES)
 Gives back all factor labels that fit the bill:
 	lsfWho(dfg, :Point2Point2)
+
+Dev Notes
+- Cloud versions will benefit from less data transfer
+ - `ls(dfg::C, ::T) where {C <: CloudDFG, T <: ..}`
+
+Related
+
+ls, lsf, lsfPriors
 """
 function lsfWho(dfg::AbstractDFG, type::Symbol)::Vector{Symbol}
 	facs = getFactors(dfg)

src/GraphsDFG/services/GraphsDFG.jl

@@ -22,10 +22,20 @@ setDescription(dfg::GraphsDFG, description::String) = dfg.description = descript
 getInnerGraph(dfg::GraphsDFG) = dfg.g
 getAddHistory(dfg::GraphsDFG) = dfg.addHistory
 getSolverParams(dfg::GraphsDFG) = dfg.solverParams
+function setSolverParams(dfg::GraphsDFG, solverParams::T) where T <: AbstractParams
+    dfg.solverParams = solverParams
+end
 
-# setSolverParams(dfg::GraphsDFG, solverParams) = dfg.solverParams = solverParams
-function setSolverParams(dfg::GraphsDFG, solverParams::P) where P <: AbstractParams
-  dfg.solverParams = solverParams
+"""
+    $(SIGNATURES)
+Gets an empty and unique CloudGraphsDFG derived from an existing DFG.
+"""
+function _getDuplicatedEmptyDFG(dfg::GraphsDFG)::GraphsDFG
+    newDfg = GraphsDFG{typeof(dfg.solverParams)}(;
+		userId=dfg.userId, robotId=dfg.robotId, sessionId=dfg.sessionId,
+		params=deepcopy(dfg.solverParams))
+	newDfg.description ="(Copy of) $(dfg.description)"
+	return newDfg
 end
 
 """
@@ -190,13 +200,6 @@ function deleteVariable!(dfg::GraphsDFG, label::Symbol)::DFGVariable
     return variable
 end
 
-#Alias
-"""
-    $(SIGNATURES)
-Delete a referenced DFGVariable from the DFG.
-"""
-deleteVariable!(dfg::GraphsDFG, variable::DFGVariable)::DFGVariable = deleteVariable!(dfg, variable.label)
-
 """
     $(SIGNATURES)
 Delete a DFGFactor from the DFG using its label.
@@ -211,13 +214,6 @@ function deleteFactor!(dfg::GraphsDFG, label::Symbol)::DFGFactor
     return factor
 end
 
-# Alias
-"""
-    $(SIGNATURES)
-Delete the referened DFGFactor from the DFG.
-"""
-deleteFactor!(dfg::GraphsDFG, factor::DFGFactor)::DFGFactor = deleteFactor!(dfg, factor.label)
-
 """
     $(SIGNATURES)
 List the DFGVariables in the DFG.
@@ -235,34 +231,6 @@ function getVariables(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing
 	return variables
 end
 
-"""
-    $(SIGNATURES)
-Get a list of IDs of the DFGVariables in the DFG.
-Optionally specify a label regular expression to retrieves a subset of the variables.
-
-Example
-```julia
-getVariableIds(dfg, r"l", tags=[:APRILTAG;])
-```
-
-Related
-
-ls
-"""
-function getVariableIds(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing; tags::Vector{Symbol}=Symbol[])::Vector{Symbol}
-  vars = getVariables(dfg, regexFilter, tags=tags)
-  # mask = map(v -> length(intersect(v.tags, tags)) > 0, vars )
-  map(v -> v.label, vars)
-end
-
-# Alias
-"""
-    $(SIGNATURES)
-List the DFGVariables in the DFG.
-Optionally specify a label regular expression to retrieves a subset of the variables.
-"""
-ls(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing; tags::Vector{Symbol}=Symbol[])::Vector{Symbol} = getVariableIds(dfg, regexFilter, tags=tags)
-
 """
     $(SIGNATURES)
 List the DFGFactors in the DFG.
@@ -276,29 +244,6 @@ function getFactors(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing):
 	return factors
 end
 
-"""
-    $(SIGNATURES)
-Get a list of the IDs of the DFGFactors in the DFG.
-Optionally specify a label regular expression to retrieves a subset of the factors.
-"""
-getFactorIds(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{Symbol} = map(f -> f.label, getFactors(dfg, regexFilter))
-
-"""
-    $(SIGNATURES)
-List the DFGFactors in the DFG.
-Optionally specify a label regular expression to retrieves a subset of the factors.
-"""
-# Alias
-lsf(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector{Symbol} = getFactorIds(dfg, regexFilter)
-
-"""
-	$(SIGNATURES)
-Alias for getNeighbors - returns neighbors around a given node label.
-"""
-function lsf(dfg::GraphsDFG, label::Symbol)::Vector{Symbol}
-  return getNeighbors(dfg, label)
-end
-
 """
     $(SIGNATURES)
 Checks if the graph is fully connected, returns true if so.
@@ -307,14 +252,6 @@ function isFullyConnected(dfg::GraphsDFG)::Bool
     return length(Graphs.connected_components(dfg.g)) == 1
 end
 
-#Alias
-"""
-    $(SIGNATURES)
-Checks if the graph is not fully connected, returns true if it is not contiguous.
-"""
-hasOrphans(dfg::GraphsDFG)::Bool = !isFullyConnected(dfg)
-
-
 """
     $(SIGNATURES)
 Retrieve a list of labels of the immediate neighbors around a given variable or factor.
@@ -359,56 +296,40 @@ function getNeighbors(dfg::GraphsDFG, label::Symbol; ready::Union{Nothing, Int}=
     return map(n -> n.dfgNode.label, neighbors)
 end
 
-# Aliases
-"""
-    $(SIGNATURES)
-Retrieve a list of labels of the immediate neighbors around a given variable or factor.
-"""
-function ls(dfg::GraphsDFG, node::T)::Vector{Symbol} where T <: DFGNode
-    return getNeighbors(dfg, node)
-end
-"""
-    $(SIGNATURES)
-Retrieve a list of labels of the immediate neighbors around a given variable or factor specified by its label.
-"""
-function ls(dfg::GraphsDFG, label::Symbol)::Vector{Symbol} where T <: DFGNode
-    return getNeighbors(dfg, label)
-end
-
-function _copyIntoGraph!(sourceDFG::GraphsDFG, destDFG::GraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false)::Nothing
-    # Split into variables and factors
-    verts = map(id -> sourceDFG.g.vertices[sourceDFG.labelDict[id]], variableFactorLabels)
-    sourceVariables = filter(n -> n.dfgNode isa DFGVariable, verts)
-    sourceFactors = filter(n -> n.dfgNode isa DFGFactor, verts)
-
-    # Now we have to add all variables first,
-    for variable in sourceVariables
-        if !haskey(destDFG.labelDict, variable.dfgNode.label)
-            addVariable!(destDFG, deepcopy(variable.dfgNode))
-        end
-    end
-    # And then all factors to the destDFG.
-    for factor in sourceFactors
-        if !haskey(destDFG.labelDict, factor.dfgNode.label)
-            # Get the original factor variables (we need them to create it)
-            neighVarIds = getNeighbors(sourceDFG, factor.dfgNode.label) #OLD: in_neighbors(factor, sourceDFG.g)
-            # Find the labels and associated neighVarIds in our new subgraph
-            factVariables = DFGVariable[]
-            for neighVarId in neighVarIds
-                if haskey(destDFG.labelDict, neighVarId)
-                    push!(factVariables, getVariable(destDFG, neighVarId))
-                    #otherwise ignore
-                end
-            end
-
-            # Only if we have all of them should we add it (otherwise strange things may happen on evaluation)
-            if includeOrphanFactors || length(factVariables) == length(neighVarIds)
-                addFactor!(destDFG, factVariables, deepcopy(factor.dfgNode))
-            end
-        end
-    end
-    return nothing
-end
+# function _copyIntoGraph!(sourceDFG::GraphsDFG, destDFG::GraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false)::Nothing
+#     # Split into variables and factors
+#     verts = map(id -> sourceDFG.g.vertices[sourceDFG.labelDict[id]], variableFactorLabels)
+#     sourceVariables = filter(n -> n.dfgNode isa DFGVariable, verts)
+#     sourceFactors = filter(n -> n.dfgNode isa DFGFactor, verts)
+#
+#     # Now we have to add all variables first,
+#     for variable in sourceVariables
+#         if !haskey(destDFG.labelDict, variable.dfgNode.label)
+#             addVariable!(destDFG, deepcopy(variable.dfgNode))
+#         end
+#     end
+#     # And then all factors to the destDFG.
+#     for factor in sourceFactors
+#         if !haskey(destDFG.labelDict, factor.dfgNode.label)
+#             # Get the original factor variables (we need them to create it)
+#             neighVarIds = getNeighbors(sourceDFG, factor.dfgNode.label) #OLD: in_neighbors(factor, sourceDFG.g)
+#             # Find the labels and associated neighVarIds in our new subgraph
+#             factVariables = DFGVariable[]
+#             for neighVarId in neighVarIds
+#                 if haskey(destDFG.labelDict, neighVarId)
+#                     push!(factVariables, getVariable(destDFG, neighVarId))
+#                     #otherwise ignore
+#                 end
+#             end
+#
+#             # Only if we have all of them should we add it (otherwise strange things may happen on evaluation)
+#             if includeOrphanFactors || length(factVariables) == length(neighVarIds)
+#                 addFactor!(destDFG, factVariables, deepcopy(factor.dfgNode))
+#             end
+#         end
+#     end
+#     return nothing
+# end
 
 """
     $(SIGNATURES)
@@ -445,23 +366,6 @@ function getSubgraphAroundNode(dfg::GraphsDFG{P}, node::T, distance::Int64=1, in
     return addToDFG
 end
 
-"""
-    $(SIGNATURES)
-Get a deep subgraph copy from the DFG given a list of variables and factors.
-Optionally provide an existing subgraph addToDFG, the extracted nodes will be copied into this graph. By default a new subgraph will be created.
-Note: By default orphaned factors (where the subgraph does not contain all the related variables) are not returned. Set includeOrphanFactors to return the orphans irrespective of whether the subgraph contains all the variables.
-"""
-function getSubgraph(dfg::GraphsDFG, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false, addToDFG::GraphsDFG=GraphsDFG{AbstractParams}())::GraphsDFG
-    for label in variableFactorLabels
-        if !haskey(dfg.labelDict, label)
-            error("Variable/factor with label '$(label)' does not exist in the factor graph")
-        end
-    end
-
-    _copyIntoGraph!(dfg, addToDFG, variableFactorLabels, includeOrphanFactors)
-    return addToDFG
-end
-
 """
     $(SIGNATURES)
 Get an adjacency matrix for the DFG, returned as a Matrix{Union{Nothing, Symbol}}.

src/LightDFG/entities/LightDFG.jl

@@ -37,7 +37,8 @@ Base.getproperty(x::LightDFG,f::Symbol) = begin
         @error "Depreciated? returning number of nodes"
         nv(x.g)
     elseif f == :labelDict
-        @error "Depreciated? Concider using exists(dfg,label) instead. Returing internals copy"
+        @error "Depreciated? Consider using exists(dfg,label) instead. Returning internals copy"
+        #TODO: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/111
         copy(x.g.labels.sym_int)
     else
         getfield(x,f)