Merge pull request #333 from JuliaRobotics/maint/20Q1/rem_fncargvID

remove fncargID

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.6.2"
+version = "0.7.0"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -201,9 +201,6 @@ function getFactor(dfg::CloudGraphsDFG, label::Union{Symbol, String})::DFGFactor
 
     # Lastly, rebuild the metadata
     factor = dfg.rebuildFactorMetadata!(dfg, factor)
-    # GUARANTEED never to bite us in the future...
-    # ... TODO: refactor if changed: https://github.com/JuliaRobotics/IncrementalInference.jl/issues/350
-    getSolverData(factor).fncargvID = factor._variableOrderSymbols
 
     return factor
 end

src/FileDFG/services/FileDFG.jl

@@ -147,11 +147,6 @@ function loadDFG(dst::String, iifModule, dfgLoadInto::G; loaddir=joinpath("/","t
         iifModule.rebuildFactorMetadata!(dfgLoadInto, factor)
     end
 
-    # PATCH - To update the fncargvID for factors, it's being cleared somewhere in rebuildFactorMetadata.
-    # TEMPORARY
-    # TODO: Remove in future
-    map(f->getSolverData(f).fncargvID = f._variableOrderSymbols, getFactors(dfgLoadInto))
-
     # remove the temporary unzipped file
     if unzip
       @info "DFG.loadDFG is deleting a temp folder created during unzip, $folder"

src/services/CompareUtils.jl

@@ -213,7 +213,6 @@ end
 function compare(a::GenericFunctionNodeData{T1,S},b::GenericFunctionNodeData{T2,S}) where {T1, T2, S}
   # TODO -- beef up this comparison to include the gwp
   TP = true
-  TP = TP && a.fncargvID == b.fncargvID
   TP = TP && a.eliminated == b.eliminated
   TP = TP && a.potentialused == b.potentialused
   TP = TP && a.edgeIDs == b.edgeIDs

src/services/Serialization.jl

@@ -153,10 +153,6 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any})::DFGFactor where G
     factor._variableOrderSymbols = _variableOrderSymbols
     setSolvable!(factor, solvable)
 
-    # GUARANTEED never to bite us in the ass in the future...
-    # ... TODO: refactor if changed: https://github.com/JuliaRobotics/IncrementalInference.jl/issues/350
-    factor.data.fncargvID = deepcopy(_variableOrderSymbols)
-
     # Note, once inserted, you still need to call IIF.rebuildFactorMetadata!
     return factor
 end

test/compareTests.jl

@@ -47,10 +47,6 @@ gfnd2 = deepcopy(gfnd1)
 gfnd3 = GenericFunctionNodeData([:a,:b], true, true, [1,2], :symbol, cos)
 
 @test gfnd1 == gfnd2
-gfnd2.fncargvID = [:a, :b]
-@test gfnd1 == gfnd2
-gfnd2.fncargvID = [:b, :a]
-@test !(gfnd1 == gfnd2)
 @test !(gfnd1 == gfnd3)
 
 # DFGFactor
@@ -59,10 +55,6 @@ f2 = deepcopy(f1)
 f3 = DFGFactor(:f1, [:b, :a], gfnd1)
 
 @test f1 == f2
-f2.solverData = gfnd1
-@test f1 == f2
-f2.solverData = gfnd2
-@test !(f1 == f2)
 @test !(f1 == f3)
 
 
@@ -85,8 +77,4 @@ gfnd2 = deepcopy(gfnd1)
 gfnd3 = GenericFunctionNodeData([:a,:b], true, true, [1,2], :symbol, cos)
 
 @test compare(gfnd1, gfnd2)
-gfnd2.fncargvID = [:a, :b]
-@test compare(gfnd1, gfnd2)
-gfnd2.fncargvID = [:b, :a]
-@test !(compare(gfnd1, gfnd2))
 @test_broken !(compare(gfnd1, gfnd3))