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Merge pull request #243 from JuliaRobotics/4Q19/feature/needsahome
buildSubgraphFromLabels! function in needsahome.jl
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‎src/DistributedFactorGraphs.jl

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@@ -100,6 +100,9 @@ include("CloudGraphsDFG/CloudGraphsDFG.jl")
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const InMemoryDFGTypes = Union{GraphsDFG, LightDFG}
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export InMemoryDFGTypes
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# Needs a home.
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include("needsahome.jl")
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function __init__()
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@require GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231" begin
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@info "Including Plots"

‎src/GraphsDFG/entities/GraphsDFG.jl

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@@ -21,8 +21,23 @@ mutable struct GraphsDFG{T <: AbstractParams} <: AbstractDFG
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labelDict::Dict{Symbol, Int64}
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addHistory::Vector{Symbol} #TODO: Discuss more - is this an audit trail?
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solverParams::T # Solver parameters
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# GraphsDFG{T}(x...) where T <: AbstractParams = new{T}(x...)
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end
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GraphsDFG( g::FGType=Graphs.incdict(GraphsNode,is_directed=false),
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d::String="Graphs.jl implementation",
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n::Int64=0,
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l::Dict{Symbol, Int64}=Dict{Symbol, Int64}(),
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a::Vector{Symbol}=Symbol[];
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userId::String = "UserID",
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robotId::String = "robotID",
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sessionId::String = "sessionID",
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userData::Dict{Symbol, String} = Dict{Symbol, String}(),
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robotData::Dict{Symbol, String} = Dict{Symbol, String}(),
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sessionData::Dict{Symbol, String} = Dict{Symbol, String}(),
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params::T=NoSolverParams()) where T <: AbstractParams = GraphsDFG{T}(g, d, userId, robotId, sessionId, userData, robotData, sessionData, n, l, a, params)
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GraphsDFG{T}( g::FGType=Graphs.incdict(GraphsNode,is_directed=false),
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d::String="Graphs.jl implementation",
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n::Int64=0,

‎src/needsahome.jl

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export buildSubgraphFromLabels!, buildSubgraphFromLabels!_SPECIAL
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export buildSubgraphFromLabels
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"""
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$SIGNATURES
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Construct a new factor graph object as a subgraph of `dfg <: AbstractDFG` based on the
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variable labels `syms::Vector{Symbols}`.
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SamC: Can we not just use _copyIntoGraph! for this? Looks like a small refactor to make it work.
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Will paste in as-is for now and we can figure it out as we go.
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Notes
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- Slighly messy internals, but gets the job done -- some room for performance improvement.
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- Defaults to GraphDFG, but likely to change to LightDFG in future.
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Related
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getVariableIds, _copyIntoGraph!
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"""
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function buildSubgraphFromLabels!(dfg::G,
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syms::Vector{Symbol};
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subfg::AbstractDFG=(G <: InMemoryDFGTypes ? G : GraphsDFG)(params=getSolverParams(dfg)),
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solvable::Int=0,
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allowedFactors::Union{Nothing, Vector{Symbol}}=nothing )::G where G <: AbstractDFG
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#
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# add a little too many variables (since we need the factors)
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for sym in syms
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if solvable <= getSolvable(dfg, sym)
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getSubgraphAroundNode(dfg, getVariable(dfg, sym), 2, false, subfg, solvable=solvable)
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end
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end
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# remove excessive variables that were copied by neighbors distance 2
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currVars = getVariableIds(subfg)
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toDelVars = setdiff(currVars, syms)
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for dv in toDelVars
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# delete any neighboring factors first
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for fc in lsf(subfg, dv)
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deleteFactor!(subfg, fc)
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end
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# and the variable itself
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deleteVariable!(subfg, dv)
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end
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return subfg
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end
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function buildSubgraphFromLabels(dfg::G,
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syms::Vector{Symbol};
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subfg::AbstractDFG=(G <: InMemoryDFGTypes ? G : GraphsDFG)(params=getSolverParams(dfg)),
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solvable::Int=0,
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allowedFactors::Union{Nothing, Vector{Symbol}}=nothing )::G where G <: AbstractDFG
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#
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@warn "Deprecated buildSubgraphFromLabels, use buildSubgraphFromLabels! instead."
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buildSubgraphFromLabels!(dfg, syms, subfg=subfg, solvable=solvable, allowedFactors=allowedFactors )
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end
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"""
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$SIGNATURES
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IIF clique specific version of building subgraphs. This is was an unfortunate rewrite of the existing `buildSubgraphFromLabels!` function above. Currently halfway consolidated. Tests required to ensure these two functions can be reduced to and will perform the same in both.
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DevNotes
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- DF: Could we somehow better consolidate the functionality of this method into `buildSubgraphFromLabels!` above, which in turn should be consolidated as SamC suggests.
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- Since this function has happened more than once, it seems the name `buildSubgraphFromLabels!` might stick around, even if it just becomes a wrapper.
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Related
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buildSubgraphFromLabels!, _copyIntoGraph!, getVariableIds
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"""
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function buildSubgraphFromLabels!_SPECIAL(dfg::G,
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# frontals::Vector{Symbol},
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syms::Vector{Symbol};
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subfg::AbstractDFG=(G <: InMemoryDFGTypes ? G : GraphsDFG)(params=getSolverParams(dfg)),
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solvable::Int=0,
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allowedFactors::Union{Nothing, Vector{Symbol}}=nothing )::G where G <: AbstractDFG
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#
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# for sym in separators
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# (solvable <= getSolvable(dfg, sym)) && DFG.addVariable!(subfg, deepcopy(DFG.getVariable(dfg, sym)))
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# end
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addfac = Symbol[]
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for sym in syms # frontals
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if solvable <= getSolvable(dfg, sym)
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DFG.addVariable!(subfg, deepcopy(DFG.getVariable(dfg, sym)))
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append!(addfac, getNeighbors(dfg, sym, solvable=solvable))
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end
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end
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# allowable factors as intersect between connected an user list
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usefac = allowedFactors == nothing ? addfac : intersect(allowedFactors, addfac)
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allvars = ls(subfg)
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for sym in usefac
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fac = DFG.getFactor(dfg, sym)
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vos = fac._variableOrderSymbols
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#TODO don't add duplicates to start with
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if !exists(subfg,fac) && (vos ⊆ allvars) && (solvable <= getSolvable(dfg, sym))
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DFG.addFactor!(subfg, fac._variableOrderSymbols, deepcopy(fac))
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end
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end
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# remove orphans
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for fct in DFG.getFactors(subfg)
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# delete any neighboring factors first
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if length(getNeighbors(subfg, fct)) != length(fct._variableOrderSymbols)
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DFG.deleteFactor!(subfg, fc)
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@error "deleteFactor! this should not happen"
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end
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end
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return subfg
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end

‎test/needsahomeTests.jl

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using DistributedFactorGraphs
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using Test
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struct TestInferenceVariable1 <: InferenceVariable end
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struct TestInferenceVariable2 <: InferenceVariable end
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@testset "Needs-a-home tests" begin
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dfg = GraphsDFG{NoSolverParams}(params=NoSolverParams())
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# Build a graph
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v1 = DFGVariable(:a, TestInferenceVariable1())
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v2 = DFGVariable(:b, TestInferenceVariable1())
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f1 = DFGFactor{Int, :Symbol}(:f1)
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addVariable!(dfg, v1)
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addVariable!(dfg, v2)
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addFactor!(dfg, [v1, v2], f1)
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# Standard tests
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newdfg = buildSubgraphFromLabels!(dfg, [:b])
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@test ls(newdfg) == [:b]
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# Okay it looks like this function only accepts variables, is that right?
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@test_throws Exception newdfg = buildSubgraphFromLabels!(dfg, [:b, :f1])
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newdfg = buildSubgraphFromLabels!(dfg, [:b, :a])
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@test symdiff(ls(newdfg), [:b, :a]) == []
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@test lsf(newdfg) == [:f1]
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# Check solvable filter
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@test setSolvable!(getVariable(dfg, :a), 1) == 1
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@test setSolvable!(getVariable(dfg, :b), 0) == 0
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@test setSolvable!(getFactor(dfg, :f1), 1) == 1
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newdfg = buildSubgraphFromLabels!(dfg, [:b, :a]; solvable = 1)
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@test ls(newdfg) == [:a]
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end

‎test/runtests.jl

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include("DataStoreTests.jl")
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end
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@testset "Needs-a-Home Tests" begin
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include("needsahomeTests.jl")
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end
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@testset "LightDFG subtype tests" begin
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for type in [(var=DFGVariableSummary, fac=DFGFactorSummary), (var=SkeletonDFGVariable,fac=SkeletonDFGFactor)]

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