Merge pull request #760 from JuliaRobotics/21Q2/enh/getprior

add _getPriorType

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.14.1"
+version = "0.14.2"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/services/DFGFactor.jl

@@ -32,6 +32,23 @@ getFactorType(data::GenericFunctionNodeData) = data.fnc.usrfnc!
 getFactorType(fct::DFGFactor) = getFactorType(getSolverData(fct))
 getFactorType(dfg::AbstractDFG, lbl::Symbol) = getFactorType(getFactor(dfg, lbl))
 
+"""
+    $SIGNATURES
+
+If you know a variable is `::Type{<:Pose2}` but want to find its default prior `::Type{<:PriorPose2}`.
+
+Assumptions
+- The prior type will be defined in the same module as the variable type.
+- Not exported per default, but can be used with knowledge of the caveats.
+
+Example
+```julia
+using RoME
+@assert RoME.PriorPose2 == DFG._getPriorType(Pose2)
+```
+"""
+_getPriorType(_type::Type{<:InferenceVariable}) = getfield(_type.name.module, Symbol(:Prior, _type.name.name))
+
 
 ##==============================================================================
 ## Factors