Merge pull request #251 from JuliaRobotics/feat/4Q19/showvar

add printVariable (wip)

Author: dehann

src/DistributedFactorGraphs.jl

@@ -28,6 +28,7 @@ export label, getTimestamp, setTimestamp!, tags, setTags!, estimates, estimate,
 export DFGVariableSummary, DFGFactorSummary, AbstractDFGSummary
 export addBigDataEntry!, getBigDataEntry, updateBigDataEntry!, deleteBigDataEntry!, getBigDataEntries, getBigDataKeys
 export getNeighborhood, getSubgraph, getSubgraphAroundNode
+export printFactor, printVariable
 
 #Skeleton types
 export SkeletonDFGVariable, SkeletonDFGFactor

src/needsahome.jl

@@ -71,6 +71,40 @@ function buildSubgraphFromLabels(dfg::G,
   buildSubgraphFromLabels!(dfg, syms, subfg=subfg, solvable=solvable, allowedFactors=allowedFactors )
 end
 
+"""
+    $SIGNATURES
+
+Display and return to console the user factor identified by tag name.
+"""
+printFactor(fgl::AbstractDFG, fsym::Symbol) = @show getFactor(fgl,fsym)
+
+
+"""
+   $SIGNATURES
+
+Display the content of `VariableNodeData` to console for a given factor graph and variable tag`::Symbol`.
+
+Dev Notes
+- TODO split as two show macros between AMP and DFG
+"""
+function printVariable(fgl::AbstractDFG, vsym::Symbol, solveKey::Symbol=:default)
+  vert = getVariable(fgl, vsym)
+  vnd = solverData(vert, solveKey)
+  println("label: $(vert.label)")
+  println("tags: $(getTags(vert))")
+  println("size marginal samples $(size(vnd.val))")
+  println("kde bandwidths: $((vnd.bw)[:,1])")
+  if 0 < length(getVariablePPEs(vert))
+    println("PPE.suggested: $(round.(getVariablePPE(vert).suggested,digits=4))")
+  else
+    println("No PPEs")
+  end
+  # println("kde max: $(round.(getKDEMax(getKDE(vnd)),digits=4))")
+  # println("kde max: $(round.(getKDEMax(getKDE(vnd)),digits=4))")
+  println()
+  vnd
+end
+
 
 ## KEEPING COMMENT, WANT TO BE CONSOLIDATED WITH FUNCTION ABOVE -- KEEPING ONLY ONE FOR MAINTAINABILITY
 ## STILL NEEDS TO BE CONSOLIDATED WITH `DFG._copyIntoGraph`

src/services/AbstractDFG.jl

@@ -674,14 +674,6 @@ function getFactorFunction(dfg::G, fsym::Symbol) where G <: AbstractDFG
 end
 
 
-"""
-    $SIGNATURES
-
-Display and return to console the user factor identified by tag name.
-"""
-showFactor(fgl::G, fsym::Symbol) where G <: AbstractDFG = @show getFactor(fgl,fsym)
-
-
 """
     $(SIGNATURES)
 Produces a dot-format of the graph for visualization.