Merge branch 'master' of https://github.com/JuliaRobotics/DistributedFactorGraphs.jl.git into jt/develop

Author: Affie

Project.toml

@@ -13,7 +13,6 @@ JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
 LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MetaGraphs = "626554b9-1ddb-594c-aa3c-2596fe9399a5"
-Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
@@ -30,6 +29,7 @@ julia = "0.7, 1"
 [extras]
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
+Neo4j = "d2adbeaf-5838-5367-8a2f-e46d570981db"
 
 [targets]
-test = ["Test", "GraphPlot"]
+test = ["Test", "GraphPlot", "Neo4j"]

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -789,11 +789,11 @@ end
 
 function getAdjacencyMatrixSparse(dfg::CloudGraphsDFG)::Tuple{SparseMatrixCSC, Vector{Symbol}, Vector{Symbol}}
     varLabels = getVariableIds(dfg)
-    factLabels = sort(getFactorIds(dfg))
-    vDict = Dict(varLabels .=> [1:length(varLabels)...].+1)
-    fDict = Dict(factLabels .=> [1:length(factLabels)...].+1)
+    factLabels = getFactorIds(dfg)
+    vDict = Dict(varLabels .=> [1:length(varLabels)...])
+    fDict = Dict(factLabels .=> [1:length(factLabels)...])
 
-    adjMat = spzeros(Int, length(factLabels)+1, length(varLabels)+1)
+    adjMat = spzeros(Int, length(factLabels), length(varLabels))
 
     # Now ask for all relationships for this session graph
     loadtx = transaction(dfg.neo4jInstance.connection)

src/services/AbstractDFG.jl

@@ -472,11 +472,11 @@ Notes:
 - used by both factor graph variable and Bayes tree clique logic.
 """
 function isInitialized(var::DFGVariable; key::Symbol=:default)::Bool
-  solverData(var, key) && return solverData(var, key).initialized
+  solverData(var, key) != nothing && return solverData(var, key).initialized
   return false
 end
 function isInitialized(fct::DFGFactor; key::Symbol=:default)::Bool
-  solverData(var, key) && return solverData(fct, key).initialized
+  solverData(var, key) != nothing && return solverData(fct, key).initialized
   return false
 end
 function isInitialized(dfg::G, label::Symbol; key::Symbol=:default)::Bool where G <: AbstractDFG

test/interfaceTests.jl

@@ -107,6 +107,15 @@ end
 
     @test getSolverParams(dfg) != nothing
     @test setSolverParams(dfg, getSolverParams(dfg)) == getSolverParams(dfg)
+
+    #solver data is initialized
+    @test !isInitialized(dfg, :a)
+    @test !isInitialized(v2)
+
+    #TODO Should the next test work?
+    @test_broken !isInitialized(dfg, :f1)
+    @test_broken !isInitialized(f1)
+    
 end
 
 @testset "Updating Nodes" begin