Merge branch '4Q19/poc/v0_6' of https://github.com/JuliaRobotics/DistributedFactorGraphs.jl into 4Q19/poc/v0_6

Author: GearsAD

src/Common.jl

@@ -410,6 +410,30 @@ function addTags!(dfg::InMemoryDFGTypes, sym::Symbol, tags::Vector{Symbol})
   union!(getTags(getFactor(fg, sym)), tags)
 end
 
+
+"""
+$SIGNATURES
+
+Add tag to a variable or factor
+"""
+addTag!(f::DataLevel0, tag::Symbol) = union!(f.tags,[tag])
+
+
+"""
+$SIGNATURES
+
+Merge tags to the node's tags (variable/factor).
+"""
+mergeTags!(f::DataLevel0, tags::Vector{Symbol}) = union!(f.tags, tags)
+
+"""
+$SIGNATURES
+
+Remove the tags from the node
+"""
+deleteTags!(f::DataLevel0, tags::Vector{Symbol}) = setdiff!(f.tags, tags)
+
+
 """
     $SIGNATURES
 

src/CommonAccessors.jl

@@ -20,11 +20,11 @@ getTags(v::DataLevel0) = v.tags
 """
 $SIGNATURES
 
-Set the tags for a factor.
+Set the tags for a node.
 """
 function setTags!(f::DataLevel0, tags::Vector{Symbol})
-  resize!(f.tags, length(tags))
-  f.tags .= tags
+  empty!(f.tags)
+  union!(f.tags, tags)
 end
 
 """

src/entities/DFGFactor.jl

@@ -70,11 +70,11 @@ Construct a DFG factor given a label.
 """
 #TODO _internalId?
 DFGFactor{T, S}(label::Symbol, internalId::Int64=0, timestamp::DateTime=now()) where {T, S} =
-                DFGFactor(label, timestamp, Symbol[], GenericFunctionNodeData{T, S}(), 0, DFGNodeParams(0, internalId), Symbol[])
+                DFGFactor(label, timestamp, Set{Symbol}(), GenericFunctionNodeData{T, S}(), 0, DFGNodeParams(0, internalId), Symbol[])
 
 DFGFactor(label::Symbol;
     timestamp::DateTime=now(),
-    tags::Vector{Symbol}=Symbol[],
+    tags::Set{Symbol}=Set{Symbol}(),
     data::GenericFunctionNodeData{T, S}=GenericFunctionNodeData{T, S}(),
     solvable::Int=0,
     _internalId::Int64=0,

src/entities/DFGVariable.jl

@@ -20,7 +20,7 @@ struct DFGVariable{T<:InferenceVariable} <: AbstractDFGVariable
     timestamp::DateTime
     """Variable tags, e.g [:POSE, :VARIABLE, and :LANDMARK].
     Accessors: `getTags`, `addTags!`, and `deleteTags!`"""
-    tags::Vector{Symbol}
+    tags::Set{Symbol}
     """Dictionary of estimates keyed by solverDataDict keys
     Accessors: `addEstimate!`, `updateEstimate!`, and `deleteEstimate!`"""
     ppeDict::Dict{Symbol, <: AbstractPointParametricEst}
@@ -43,7 +43,7 @@ end
 The default DFGVariable constructor.
 """
 DFGVariable(label::Symbol, softtype::T;
-            tags::Vector{Symbol}=Symbol[],
+            tags::Set{Symbol}=Set{Symbol}(),
             estimateDict::Dict{Symbol, <: AbstractPointParametricEst}=Dict{Symbol, MeanMaxPPE}(),
             solverDataDict::Dict{Symbol, VariableNodeData{T}}=Dict{Symbol, VariableNodeData{T}}(:default => VariableNodeData{T}()),
             smallData::Dict{String, String}=Dict{String, String}(),

test/interfaceTests.jl

@@ -12,9 +12,9 @@ v2 = DFGVariable(:b, TestInferenceVariable2())
 f1 = DFGFactor{Int, :Symbol}(:f1)
 
 #add tags for filters
-append!(v1.tags, [:VARIABLE, :POSE])
-append!(v2.tags, [:VARIABLE, :LANDMARK])
-append!(f1.tags, [:FACTOR])
+union!(v1.tags, [:VARIABLE, :POSE])
+union!(v2.tags, [:VARIABLE, :LANDMARK])
+union!(f1.tags, [:FACTOR])
 
 st1 = TestInferenceVariable1()
 st2 = TestInferenceVariable2()
@@ -142,8 +142,8 @@ end
     @test getLabel(v1) == v1.label
     @test getTags(v1) == v1.tags
     testTags = [:ha, :ha23]
-    @test setTags!(v1, testTags) == testTags
-    @test getTags(v1) == testTags
+    @test setTags!(v1, testTags) == Set(testTags)
+    @test getTags(v1) == Set(testTags)
 
     @test getTimestamp(v1) == v1.timestamp
     testTimestamp = now()