add getVariablePPE and deprecated

Author: dehann

src/DistributedFactorGraphs.jl

@@ -21,7 +21,8 @@ export AbstractParams, NoSolverParams
 export DFGNode, DFGVariable, DFGFactor, AbstractDFGVariable, AbstractDFGFactor
 export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariable, ConvolutionObject
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
-export getMaxPPE, getMeanPPE, getSuggestedPPE
+export getMaxPPE, getMeanPPE, getSuggestedPPE, getEstimates
+export getVariablePPE
 export timestamp # DEPRECATED
 export label, getTimestamp, setTimestamp!, tags, setTags!, estimates, estimate, data, softtype, solverData, getData, solverDataDict, setSolverData, setSolverData!, internalId, smallData, setSmallData!, bigData
 export DFGVariableSummary, DFGFactorSummary, AbstractDFGSummary

src/LightDFG/entities/LightDFG.jl

@@ -58,10 +58,10 @@ Base.propertynames(x::LightDFG, private::Bool=false) =
 
 Base.getproperty(x::LightDFG,f::Symbol) = begin
     if f == :nodeCounter
-        @error "Field nodeCounter depreciated. returning number of nodes"
+        @error "Field nodeCounter deprecated. returning number of nodes"
         nv(x.g)
     elseif f == :labelDict
-        @error "Field labelDict depreciated. Consider using exists(dfg,label) or getLabelDict(dfg) instead. Returning internals copy"
+        @error "Field labelDict deprecated. Consider using exists(dfg,label) or getLabelDict(dfg) instead. Returning internals copy"
         #TODO: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/111
         copy(x.g.labels.sym_int)
     else

src/SymbolDFG/entities/SymbolDFG.jl

@@ -38,10 +38,10 @@ Base.propertynames(x::SymbolDFG, private::Bool=false) =
 
 Base.getproperty(x::SymbolDFG,f::Symbol) = begin
     if f == :nodeCounter
-        @error "Field nodeCounter depreciated. returning number of nodes"
+        @error "Field nodeCounter deprecated. returning number of nodes"
         nv(x.g)
     elseif f == :labelDict
-        @error "Field labelDict depreciated. Consider using exists(dfg,label) or getLabelDict(dfg) instead. Returning internals copy"
+        @error "Field labelDict deprecated. Consider using exists(dfg,label) or getLabelDict(dfg) instead. Returning internals copy"
         copy(x.g.fadjdict)
     else
         getfield(x,f)

src/attic/MetaGraphsDFG/entities/MetaGraphsDFG.jl

@@ -51,10 +51,10 @@ Base.propertynames(x::MetaGraphsDFG, private::Bool=false) =
 
 Base.getproperty(x::MetaGraphsDFG,f::Symbol) = begin
     if f == :nodeCounter
-        @warn "Field nodeCounter depreciated. returning number of nodes"
+        @warn "Field nodeCounter deprecated. returning number of nodes"
         nv(x.g)
     elseif f == :labelDict
-        @warn "Field labelDict depreciated. Consider using exists(dfg,label) or getLabelDict(dfg) instead. Returning internals copy"
+        @warn "Field labelDict deprecated. Consider using exists(dfg,label) or getLabelDict(dfg) instead. Returning internals copy"
         copy(x.g.metaindex[:label])
     else
         getfield(x,f)

src/entities/DFGVariable.jl

@@ -117,7 +117,7 @@ getSuggestedPPE(est::AbstractPointParametricEst) = est.suggested
 getLastUpdatedTimestamp(est::AbstractPointParametricEst) = est.lastUpdatedTimestamp
 
 
-VariableEstimate(params...) = errror("VariableEstimate is depreciated, please use MeanMaxPPE")
+VariableEstimate(params...) = error("VariableEstimate is deprecated, please use MeanMaxPPE")
 
 
 """
@@ -142,7 +142,7 @@ DFGVariable constructors.
 """
 function DFGVariable(label::Symbol, _internalId::Int64 = 0) #where {T <:InferenceVariable}
     st = stacktrace()
-    @warn "DFGVariable(label::Symbol, _internalId::Int64 = 0) is depreciated please use DFGVariable(label::Symbol, softtype::T, _internalId::Int64 = 0) where T <: InferenceVariable. Enable DEBUG logging for the stack trace."
+    @warn "DFGVariable(label::Symbol, _internalId::Int64 = 0) is deprecated please use DFGVariable(label::Symbol, softtype::T, _internalId::Int64 = 0) where T <: InferenceVariable. Enable DEBUG logging for the stack trace."
     @debug st
     T = InferenceVariable
     DFGVariable(label, now(), Symbol[],
@@ -228,6 +228,25 @@ function estimate(v::VariableDataLevel1, key::Symbol=:default)
     getEstimate(v, key)
 end
 
+
+"""
+    $SIGNATURES
+
+Get the parametric point estimate (PPE) for a variable in the factor graph.
+
+Notes
+- Defaults on keywords `solveKey` and `method`
+
+Related
+
+getMeanPPE, getMaxPPE, getKDEMean, getKDEFit
+"""
+function getVariablePPE(vari::DFGVariable; solveKey::Symbol=:default, method::Function=getSuggestedPPE)
+  getEstimates(vari)[solveKey] |> getSuggestedPPE
+end
+
+getVariablePPE(dfg::AbstractDFG, vsym::Symbol; solveKey::Symbol=:default, method::Function=getSuggestedPPE) = getVariablePPE(getVariable(dfg,vsym), solveKey=solveKey, method=method)
+
 """
    $(SIGNATURES)