fixing #232 breaks stuff

Author: dehann

src/Common.jl

@@ -185,21 +185,6 @@ function lsfPriors(dfg::G)::Vector{Symbol} where G <: AbstractDFG
   return priors
 end
 
-"""
-   $(SIGNATURES)
-
-Variable nodes softtype information holding a variety of meta data associated with the type of variable stored in that node of the factor graph.
-
-Related
-
-getVariableType
-"""
-function getSofttype(vnd::VariableNodeData)
-  return vnd.softtype
-end
-function getSofttype(v::DFGVariable; solveKey::Symbol=:default)
-  return getSofttype(solverData(v, solveKey))
-end
 
 """
     $SIGNATURES

src/CommonAccessors.jl

@@ -8,10 +8,6 @@ export getTimestamp, setTimestamp!, timestamp
 export getInternalId, interalId
 
 
-const FactorDataLevel0 = Union{DFGFactor, DFGFactorSummary, SkeletonDFGFactor}
-const FactorDataLevel1 = Union{DFGFactor, DFGFactorSummary}
-# const FactorDataLevel2 = Union{DFGFactor}
-
 const DataLevel0 = Union{VariableDataLevel0, FactorDataLevel0}
 const DataLevel1 = Union{VariableDataLevel1, FactorDataLevel1}
 const DataLevel2 = Union{VariableDataLevel2, FactorDataLevel2}
@@ -106,6 +102,6 @@ Return the internal ID for a variable.
 DEPRECATED, internalId -> getInternalId
 """
 function internalId(v::DataLevel1)
-  @warn "Deprecated interalId, use getInternalId instead."
-  getInternalId(v)
+    @warn "Deprecated interalId, use getInternalId instead."
+    getInternalId(v)
 end

src/DistributedFactorGraphs.jl

@@ -79,6 +79,7 @@ export
 include("services/AbstractDFG.jl")
 include("services/DFGVariable.jl")
 include("services/DFGFactor.jl")
+include("CommonAccessors.jl")
 include("services/CompareUtils.jl")
 
 # Include the Graphs.jl API.

src/entities/DFGFactor.jl

@@ -86,8 +86,13 @@ end
 #NOTE I feel like a want to force a variableOrderSymbols
 SkeletonDFGFactor(label::Symbol, variableOrderSymbols::Vector{Symbol} = Symbol[]) = SkeletonDFGFactor(label, Symbol[], variableOrderSymbols)
 
+
+
 # Accessors
 
+const FactorDataLevel0 = Union{DFGFactor, DFGFactorSummary, SkeletonDFGFactor}
+const FactorDataLevel1 = Union{DFGFactor, DFGFactorSummary}
+const FactorDataLevel2 = Union{DFGFactor}
 
 
 """

src/entities/DFGVariable.jl

@@ -185,46 +185,89 @@ end
 
 SkeletonDFGVariable(label::Symbol) = SkeletonDFGVariable(label, Symbol[])
 
+
 # Accessors
 
 const VariableDataLevel0 = Union{DFGVariable, DFGVariableSummary, SkeletonDFGVariable}
 const VariableDataLevel1 = Union{DFGVariable, DFGVariableSummary}
+const VariableDataLevel2 = Union{DFGVariable}
+
+
+"""
+$SIGNATURES
 
+Return the estimates for a variable.
+"""
+getEstimates(v::VariableDataLevel1) = v.estimateDict
 
 """
     $SIGNATURES
 
 Return the estimates for a variable.
+
+DEPRECATED, estimates -> getEstimates
 """
-estimates(v::VariableDataLevel1) = v.estimateDict
+function estimates(v::VariableDataLevel1)
+    @warn "Deprecated estimates, use getEstimates instead."
+    getEstimates(v)
+end
 
 """
     $SIGNATURES
 
 Return a keyed estimate (default is :default) for a variable.
 """
-estimate(v::VariableDataLevel1, key::Symbol=:default) = haskey(v.estimateDict, key) ? v.estimateDict[key] : nothing
+getEstimate(v::VariableDataLevel1, key::Symbol=:default) = haskey(v.estimateDict, key) ? v.estimateDict[key] : nothing
 
 """
-    $SIGNATURES
+$SIGNATURES
 
-Return the softtype name for a variable.
+Return a keyed estimate (default is :default) for a variable.
 """
-softtype(v::DFGVariableSummary)::Symbol = v.softtypename
+function estimate(v::VariableDataLevel1, key::Symbol=:default)
+    @warn "DEPRECATED estimate, use getEstimate instead."
+    getEstimate(v, key)
+end
+
+"""
+   $(SIGNATURES)
+
+Variable nodes softtype information holding a variety of meta data associated with the type of variable stored in that node of the factor graph.
+
+Related
+
+getVariableType
+"""
+function getSofttype(vnd::VariableNodeData)
+  return vnd.softtype
+end
+function getSofttype(v::DFGVariable; solveKey::Symbol=:default)
+  return getSofttype(solverData(v, solveKey))
+end
 
 """
     $SIGNATURES
 
 Retrieve the soft type name symbol for a DFGVariable or DFGVariableSummary. ie :Point2, Pose2, etc.
+
+TODO, DO NOT USE v.softtypename in DFGVariableSummary
 """
-softtype(v::DFGVariable)::Symbol = Symbol(typeof(getSofttype(v)))
+getSofttype(v::DFGVariableSummary) = v.softtypename
+
+
 
 """
-    $SIGNATURES
+$SIGNATURES
 
-Return the internal ID a variable.
+Return the softtype name for a variable.
+
+DEPRECATED, softtype -> getSofttype
 """
-internalId(v::VariableDataLevel1) = v._internalId
+function softtype(v::VariableDataLevel1)::Symbol
+    @warn "Deprecated softtype, use getSofttype instead."
+    getSofttype(v)
+end
+
 
 """
     $SIGNATURES

test/interfaceTests.jl

@@ -1,3 +1,5 @@
+# global testDFGAPI = GraphsDFG
+
 dfg = testDFGAPI{NoSolverParams}()
 
 #add types for softtypes
@@ -76,6 +78,11 @@ end
     # Additional testing for https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/201
     @test symdiff([:a, :b], getVariableIds(dfg, solvable=0)) == []
     @test getVariableIds(dfg, solvable=1) == [:b]
+      # WHAT -- still does not work?
+      # v2b = deepcopy(v2)
+      # setTags!(v2b, [:VARIABLE; :LANDMARK])
+      # setSolvable!(v2b, 1)
+      # setTimestamp!(v2b, getTimestamp(getVariables(dfg, solvable=1)[1]))
     @test getVariables(dfg, solvable=1) == [v2]
     @test getFactorIds(dfg) == [:f1]
     @test getFactorIds(dfg, solvable=1) == []