Merge pull request #777 from JuliaRobotics/master

v0.14.4-rc1

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.14.3"
+version = "0.14.4"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

README.md

@@ -50,7 +50,7 @@ dfg = initfg()
 # add 2 ContinuousScalar variable types to the new factor graph
 addVariable!(dfg, :a, ContinuousScalar)
 addVariable!(dfg, :b, ContinuousScalar)
-# add a LinearConditional factor
-addFactor!(dfg, [:a, :b], LinearConditional(Normal(10.0,1.0)))
+# add a LinearRelative factor
+addFactor!(dfg, [:a, :b], LinearRelative(Normal(10.0,1.0)))
 ```
 

src/services/CustomPrinting.jl

@@ -34,14 +34,20 @@ function printVariable( io::IO, vert::DFGVariable;
         solk = listSolveKeys(vert) |> collect
         lsolk = length(solk)
         smsk = (rand(1:lsolk,100) |> unique)[1:minimum([4,lsolk])]
-        println(ioc, "  Nr SolveKeys=$(lsolk): ", solk[smsk], 4<lsolk ? "..." : "")
-        printstyled(ioc, "    :default", "\n", bold=true)
+        println(ioc, "  Nr solveKeys=$(lsolk): ", solk[smsk], 4<lsolk ? "..." : "")
+        printstyled(ioc, "    :default <-- VariableNodeData", "\n", bold=true)
         println(ioc, "      size marginal samples: ", size(vnd.val))
         println(ioc, "      kde bandwidths: ", round.((vnd.bw)[:,1], digits=4))
-        if 0 < length(getPPEDict(vert))
-            println(ioc, "      PPE.suggested: ", round.(getPPE(vert).suggested,digits=4) )
-        else
-            println(ioc, "      No PPEs yet")
+        if haskey(getPPEDict(vert), :default)
+            printstyled(ioc, "    :default ", bold=true)
+            println(ioc, "<-- PPE.suggested: ", round.(ppe.suggested,digits=4) )
+        end
+        maxkeys = 3
+        for (key, ppe) in getPPEDict(vert)
+            maxkeys -= 1
+            maxkeys == 0 && break
+            printstyled(ioc, "    :$key ", bold=true)
+            println(ioc, "<-- PPE.suggested: ", round.(ppe.suggested,digits=4) )
         end
         printstyled(ioc, "  TYPE: ", bold=true, color=:blue)
         println(ioc, vari)