Merge pull request #382 from JuliaRobotics/master

v0.7.4-rc1

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.7.3"
+version = "0.7.4"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -21,7 +21,7 @@ UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 Unmarshal = "cbff2730-442d-58d7-89d1-8e530c41eb02"
 
 [compat]
-Colors = "0.8, 0.9, 0.10, 0.11"
+Colors = "0.8, 0.9, 0.10, 0.11, 0.12"
 Distributions = "0.18, 0.19, 0.20, 0.21, 0.22, 0.23, 0.24, 0.25, 1"
 DocStringExtensions = "0.8, 0.9, 0.10, 1"
 Graphs = "0.10.2, 0.11, 1"

src/DistributedFactorGraphs.jl

@@ -191,7 +191,7 @@ export mergeVariableData!, mergeGraphVariableData!
 export natural_lt, sortDFG
 
 ## List
-export ls, lsf
+export ls, lsf, ls2
 export lsTypes, lsfTypes
 export lsWho, lsfWho
 export isPrior, lsfPriors
@@ -224,7 +224,7 @@ export
     compareFactorGraphs
 
 
-## Deprecated exports should be listed in Deprecated.jl if possible, otherwise here 
+## Deprecated exports should be listed in Deprecated.jl if possible, otherwise here
 
 
 ## needsahome.jl

src/services/AbstractDFG.jl

@@ -538,6 +538,15 @@ function lsf(dfg::G, ::Type{T}) where {G <: AbstractDFG, T <: FunctorInferenceTy
     ls(dfg, T)
 end
 
+"""
+    $(SIGNATURES)
+Helper to return neighbors at distance 2 around a given node label.
+"""
+function ls2(dfg::AbstractDFG, label::Symbol)
+    l2 = getNeighborhood(dfg, label, 2)
+    l1 = getNeighborhood(dfg, label, 1)
+    return setdiff(l2, l1)
+end
 
 """
     $SIGNATURES

test/testBlocks.jl

@@ -30,8 +30,8 @@ end
 Base.:(==)(a::TestCCW, b::TestCCW) = a.usrfnc! == b.usrfnc!
 
 
-global testDFGAPI = LightDFG
 global testDFGAPI = GraphsDFG
+global testDFGAPI = LightDFG
 
 #test Specific definitions
 # struct TestInferenceVariable1 <: InferenceVariable end
@@ -731,6 +731,7 @@ function testGroup!(fg, v1, v2, f0, f1)
         @test getVariableType(v1) == TestSofttype1()
         @test getVariableType(fg,:a) == TestSofttype1()
 
+        @test ls2(fg, :a) == [:b]
 
         #TODO what is lsTypes supposed to return?
         @test_broken lsTypes(fg)