Merge pull request #427 from JuliaRobotics/maint/20Q2/isConnected

Rename hasOrphans and isFullyConnected to isConnected

Author: dehann

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -375,7 +375,7 @@ function listFactors(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=not
     end
 end
 
-function isFullyConnected(dfg::CloudGraphsDFG)::Bool
+function isConnected(dfg::CloudGraphsDFG)::Bool
     # If the total number of nodes == total number of distinct connected nodes, then it is fully connected
     # Total nodes
     varIds = listVariables(dfg)

src/Deprecated.jl

@@ -106,6 +106,10 @@ function Base.convert(::Type{SkeletonDFGFactor}, f::FactorDataLevel1)
     return SkeletonDFGFactor(f)
 end
 
+
+@deprecate hasOrphans(dfg) !isConnected(dfg)
+@deprecate isFullyConnected(dfg) isConnected(dfg)
+
 ##==============================================================================
 ## WIP on consolidated subgraph functions, aim to remove in 0.8
 ##==============================================================================

src/DistributedFactorGraphs.jl

@@ -71,7 +71,7 @@ export exists,
        getVariables, getFactors,
        isVariable, isFactor
 
-export isFullyConnected, hasOrphans
+export isConnected
 
 export getBiadjacencyMatrix
 

src/GraphsDFG/GraphsDFG.jl

@@ -35,8 +35,7 @@ import ...DistributedFactorGraphs:  setSolverParams!,
                                     getFactors,
                                     listFactors,
                                     lsf,
-                                    isFullyConnected,
-                                    hasOrphans,
+                                    isConnected,
                                     getNeighbors,
                                     buildSubgraph,
                                     copyGraph!,

src/GraphsDFG/services/GraphsDFG.jl

@@ -220,7 +220,7 @@ function getFactors(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing;
     return factors
 end
 
-function isFullyConnected(dfg::GraphsDFG)::Bool
+function isConnected(dfg::GraphsDFG)::Bool
     return length(Graphs.connected_components(dfg.g)) == 1
 end
 

src/LightDFG/LightDFG.jl

@@ -37,8 +37,7 @@ import ...DistributedFactorGraphs:  setSolverParams!,
                                     getFactors,
                                     listFactors,
                                     lsf,
-                                    isFullyConnected,
-                                    hasOrphans,
+                                    isConnected,
                                     getNeighbors,
                                     buildSubgraph,
                                     copyGraph!,

src/LightDFG/services/LightDFG.jl

@@ -210,8 +210,9 @@ function listFactors(dfg::LightDFG, regexFilter::Union{Nothing, Regex}=nothing;
     return factors
 end
 
-function isFullyConnected(dfg::LightDFG)::Bool
-    return length(LightGraphs.connected_components(dfg.g)) == 1
+function isConnected(dfg::LightDFG)::Bool
+    return LightGraphs.is_connected(dfg.g)
+    # return length(LightGraphs.connected_components(dfg.g)) == 1
 end
 
 function _isSolvable(dfg::LightDFG, label::Symbol, ready::Int)::Bool

src/services/AbstractDFG.jl

@@ -292,8 +292,8 @@ end
     $(SIGNATURES)
 Checks if the graph is fully connected, returns true if so.
 """
-function isFullyConnected(dfg::AbstractDFG)::Bool
-    error("isFullyConnected not implemented for $(typeof(dfg))")
+function isConnected(dfg::AbstractDFG)::Bool
+    error("isConnected not implemented for $(typeof(dfg))")
 end
 
 """
@@ -418,15 +418,6 @@ function getNeighbors(dfg::AbstractDFG, node::DFGNode; solvable::Int=0)::Vector{
     getNeighbors(dfg, node.label, solvable=solvable)
 end
 
-#Alias
-#TODO rather actually check if there are orphaned factors (factors without all variables)
-"""
-    $(SIGNATURES)
-Checks if the graph is not fully connected, returns true if it is not contiguous.
-"""
-function hasOrphans(dfg::G)::Bool where G <: AbstractDFG
-    return !isFullyConnected(dfg)
-end
 
 ##==============================================================================
 ## Listing and listing aliases

test/iifInterfaceTests.jl

@@ -324,11 +324,11 @@ end
 # Connectivity test
 @testset "Connectivity Test" begin
     global dfg,v1,v2,f1
-    @test isFullyConnected(dfg) == true
-    @test hasOrphans(dfg) == false
+    @test isConnected(dfg) == true
+    @test @test_deprecated isFullyConnected(dfg) == true
+    @test @test_deprecated hasOrphans(dfg) == false
     addVariable!(dfg, :orphan, ContinuousScalar, labels = [:POSE], solvable=0)
-    @test isFullyConnected(dfg) == false
-    @test hasOrphans(dfg) == true
+    @test isConnected(dfg) == false
 end
 
 # Adjacency matrices

test/runtests.jl

@@ -178,7 +178,7 @@ struct NotImplementedDFG <: AbstractDFG end
     @test_throws ErrorException deleteFactor!(dfg, :a)
     @test_throws ErrorException getVariables(dfg)
     @test_throws ErrorException getFactors(dfg)
-    @test_throws ErrorException isFullyConnected(dfg)
+    @test_throws ErrorException isConnected(dfg)
     @test_throws ErrorException getNeighbors(dfg, v1)
     @test_throws ErrorException getNeighbors(dfg, :a)