@@ -38,18 +38,23 @@ getLastUpdatedTimestamp(est::AbstractPointParametricEst) = est.lastUpdatedTimest
3838
3939Variable nodes `variableType` information holding a variety of meta data associated with the type of variable stored in that node of the factor graph.
4040
41+ DevWork
42+ - TODO, see IncrementalInference.jl 1228
43+
4144Related
4245
4346getVariableType
4447"""
48+ getVariableType (v:: DFGVariable{T} ) where T <: InferenceVariable = T ()
49+
4550function getVariableType (vnd:: VariableNodeData )
51+ # @warn "getVariableType(::VariableNodeData) is being deprecated, use getVariableType(::DFGVariable) instead."
4652 return vnd. variableType
4753end
4854
4955
5056# TODO : Confirm that we can switch this out, instead of retrieving the complete variable.
51- # getVariableType(v::DFGVariable{T}) where T <: InferenceVariable = T()
52- getVariableType (v:: DFGVariable ) = getVariableType (getSolverData (v))
57+ # getVariableType(v::DFGVariable) = getVariableType(getSolverData(v))
5358
5459# Optimized in CGDFG
5560getVariableType (dfg:: AbstractDFG , lbl:: Symbol ) = getVariableType (getVariable (dfg,lbl))
326331 $SIGNATURES
327332Set solver data structure stored in a variable.
328333"""
329- setSolverData! (v:: DFGVariable , data:: VariableNodeData , key:: Symbol = :default ) = v. solverDataDict[key] = data
334+ function setSolverData! (v:: DFGVariable , data:: VariableNodeData , key:: Symbol = :default )
335+ @assert key == data. solveKey " VariableNodeData.solveKey=:$(data. solveKey) does not match requested :$(key) "
336+ v. solverDataDict[key] = data
337+ end
330338
331339# #------------------------------------------------------------------------------
332340# # smallData
@@ -520,7 +528,9 @@ function updateVariableSolverData!(dfg::AbstractDFG,
520528 # for InMemoryDFGTypes do memory copy or repointing, for cloud this would be an different kind of update.
521529 usevnd = useCopy ? deepcopy (vnd) : vnd
522530 # should just one, or many pointers be updated?
523- if haskey (var. solverDataDict, vnd. solveKey) && isa (var. solverDataDict[vnd. solveKey], VariableNodeData) && length (fields) != 0
531+ useExisting = haskey (var. solverDataDict, vnd. solveKey) && isa (var. solverDataDict[vnd. solveKey], VariableNodeData) && length (fields) != 0
532+ # @error useExisting vnd.solveKey
533+ if useExisting
524534 # change multiple pointers inside the VND var.solverDataDict[solvekey]
525535 for field in fields
526536 destField = getfield (var. solverDataDict[vnd. solveKey], field)
@@ -561,13 +571,20 @@ function updateVariableSolverData!(dfg::AbstractDFG,
561571end
562572
563573
564- updateVariableSolverData! (dfg:: AbstractDFG ,
565- sourceVariable:: DFGVariable ,
566- solveKey:: Symbol = :default ,
567- useCopy:: Bool = true ,
568- fields:: Vector{Symbol} = Symbol[];
569- warn_if_absent:: Bool = true ) =
570- updateVariableSolverData! (dfg, sourceVariable. label, getSolverData (sourceVariable, solveKey), useCopy, fields; warn_if_absent= warn_if_absent)
574+ function updateVariableSolverData! ( dfg:: AbstractDFG ,
575+ sourceVariable:: DFGVariable ,
576+ solveKey:: Symbol = :default ,
577+ useCopy:: Bool = true ,
578+ fields:: Vector{Symbol} = Symbol[];
579+ warn_if_absent:: Bool = true )
580+ #
581+ vnd = getSolverData (sourceVariable, solveKey)
582+ # toshow = listSolveKeys(sourceVariable) |> collect
583+ # @info "update DFGVar solveKey" solveKey vnd.solveKey
584+ # @show toshow
585+ @assert solveKey == vnd. solveKey " VariableNodeData's solveKey=:$(vnd. solveKey) does not match requested :$solveKey "
586+ updateVariableSolverData! (dfg, sourceVariable. label, vnd, useCopy, fields; warn_if_absent= warn_if_absent)
587+ end
571588
572589function updateVariableSolverData! (dfg:: AbstractDFG ,
573590 sourceVariables:: Vector{<:DFGVariable} ,
@@ -674,13 +691,13 @@ function getPPE(dfg::AbstractDFG, variablekey::Symbol, ppekey::Symbol=:default)
674691end
675692
676693# Not the most efficient call but it at least reuses above (in memory it's probably ok)
677- getPPE (dfg:: AbstractDFG , sourceVariable:: VariableDataLevel1 , ppekey:: Symbol = default):: AbstractPointParametricEst = getPPE (dfg, sourceVariable. label, ppekey)
694+ getPPE (dfg:: AbstractDFG , sourceVariable:: VariableDataLevel1 , ppekey:: Symbol = : default= getPPE (dfg, sourceVariable. label, ppekey)
678695
679696"""
680697 $(SIGNATURES)
681698Add variable PPE, errors if it already exists.
682699"""
683- function addPPE! (dfg:: AbstractDFG , variablekey:: Symbol , ppe:: P ):: AbstractPointParametricEst where {P <: AbstractPointParametricEst }
700+ function addPPE! (dfg:: AbstractDFG , variablekey:: Symbol , ppe:: P ) where {P <: AbstractPointParametricEst }
684701 var = getVariable (dfg, variablekey)
685702 if haskey (var. ppeDict, ppe. solveKey)
686703 error (" PPE '$(ppe. solveKey) ' already exists"
0 commit comments