Accessors

Author: GearsAD

src/DistributedFactorGraphs.jl

@@ -15,6 +15,8 @@ export AbstractDFG
 export DFGNode
 export DFGFactor
 export DFGVariable
+export label, timestamp, tags, estimates, estimate, solverData, solverDataDict, id, smallData, bigData
+export label, data, id
 
 # Include the Graphs.jl API.
 include("services/GraphsDFG.jl")

src/entities/DFGFactor.jl

@@ -27,3 +27,7 @@ mutable struct DFGFactor{T, S} <: DFGNode
     DFGFactor{T, S}(label::Symbol) where {T, S} = new{T, S}(label, GenericFunctionNodeData{T, S}(), 0)
     DFGFactor{T, S}(label::Symbol, _internalId::Int64) where {T, S} = new{T, S}(label, GenericFunctionNodeData{T, S}(), _internalId)
 end
+
+label(f::F) where F <: DFGFactor = f.label
+data(f::F) where F <: DFGFactor = f.data
+id(f::F) where F <: DFGFactor = f._internalId

src/entities/DFGVariable.jl

@@ -36,6 +36,12 @@ mutable struct VariableNodeData
     new(x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13)
 end
 
+struct VariableEstimate
+  estimate::Vector{Float64}
+  type::Symbol
+  key::Symbol
+end
+
 """
     $(SIGNATURES)
 Fundamental structure for a DFG variable.
@@ -44,12 +50,25 @@ mutable struct DFGVariable <: DFGNode
     label::Symbol
     timestamp::DateTime
     tags::Vector{Symbol}
-    estimates::Dict{Symbol, Vector{Float64}}
-    variableData::VariableNodeData
-    # variableDatas::VND
+    estimateDict::Dict{Symbol, VariableEstimate}
+    solverDataDict::Dict{Symbol, VariableNodeData}
     smallData::Any
     bigData::Any
     _internalId::Int64
-    DFGVariable(label::Symbol, _internalId::Int64) = new(label, now(), Symbol[], Dict{Symbol, Vector{Float64}}(), VariableNodeData(), nothing, nothing, _internalId)
-    DFGVariable(label::Symbol) = new(label, now(), Symbol[], Dict{Symbol, Vector{Float64}}(), VariableNodeData(), nothing, nothing, 0)
+    DFGVariable(label::Symbol, _internalId::Int64) = new(label, now(), Symbol[], Dict{Symbol, VariableEstimate}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), nothing, nothing, _internalId)
+    DFGVariable(label::Symbol) = new(label, now(), Symbol[], Dict{Symbol, VariableEstimate}(), Dict{Symbol, VariableNodeData}(:default => VariableNodeData()), nothing, nothing, 0)
 end
+
+# Accessors
+label(v::DFGVariable) = v.label
+timestamp(v::DFGVariable) = v.timestamp
+tags(v::DFGVariable) = v.tags
+estimates(v::DFGVariable) = v.estimateDict
+estimate(v::DFGVariable, key::Symbol) = haskey(v.estimateDict, key) ? v.estimateDict[key] : nothing
+solverData(v::DFGVariable) = haskey(v.solverDataDict, :default) ? v.solverDataDict[:default] : nothing
+solverData(v::DFGVariable, key::Symbol) = haskey(v.solverDataDict, key) ? v.solverDataDict[key] : nothing
+solverDataDict(v::DFGVariable) = v.solverDataDict
+id(v::DFGVariable) = v._internalId
+# Todo: Complete this.
+smallData(v::DFGVariable) = v.smallData
+bigData(v::DFGVariable) = v.bigData

test/interfaceTests.jl

@@ -21,7 +21,7 @@ end
 end
 
 # Gets
-@testset "Gets and Sets" begin
+@testset "Gets, Sets, and Accessors" begin
     global dfg,v1,v2,f1
     @test getVariable(dfg, v1.label) == v1
     @test getFactor(dfg, f1.label) == f1
@@ -35,6 +35,20 @@ end
     @test updateVariable!(dfg, v1Prime) != v1
     f1Prime = deepcopy(f1)
     @test updateFactor!(dfg, f1Prime) != f1
+
+    # Accessors
+    @test label(v1) == v1.label
+    @test timestamp(v1) == v1.timestamp
+    @test estimates(v1) == v1.estimateDict
+    @test estimate(v1, :notfound) == nothing
+    @test solverData(v1) == v1.solverDataDict[:default]
+    @test solverData(v1, :default) == v1.solverDataDict[:default]
+    @test solverDataDict(v1) == v1.solverDataDict
+    @test id(v1) == v1._internalId
+
+    @test label(f1) == f1.label
+    @test data(f1) == f1.data
+    @test id(f1) == f1._internalId
 end
 
 # Deletions