Merge branch 'master' into 23Q1/enh/blobidsarehard

Author: dehann

Project.toml

@@ -35,7 +35,7 @@ Graphs = "1.4"
 JSON = "0.21"
 JSON2 = "0.3.1"
 JSON3 = "1"
-ManifoldsBase = "0.11, 0.12, 0.13"
+ManifoldsBase = "0.12, 0.13, 0.14"
 OrderedCollections = "1.4"
 Pkg = "1.4, 1.5"
 ProgressMeter = "1"

src/DataBlobs/services/AbstractDataEntries.jl

@@ -147,7 +147,10 @@ end
 
 """
     $(SIGNATURES)
-List the data entries associated with a particular variable.
+List the blob entries associated with a particular variable.
+
+DevNotes
+- TODO rename to listBlobEntries (drop noun Data in lower level calls)
 """
 function listDataEntries(var::AbstractDFGVariable)
     collect(keys(var.dataDict))

src/DataBlobs/services/DataEntryBlob.jl

@@ -69,6 +69,9 @@ Related
 [`updateDataEntry!`](@ref)
 
 $(METHODLIST)
+
+DevNotes
+- TODO TBD update verb on data since data blobs and entries are restricted to immutable only.
 """
 function updateData! end
 

src/entities/DFGVariable.jl

@@ -24,7 +24,7 @@ Base.@kwdef mutable struct VariableNodeData{T<:InferenceVariable, P}
     """
     Vector of on-manifold points used to represent a ManifoldKernelDensity (or parametric) belief.
     """
-    val::Vector{P}
+    val::Vector{P} = Vector{P}()
     """
     Common kernel bandwith parameter used with ManifoldKernelDensity, and as legacy also stores covariance until a dedicated field is created for parametric case.
     """
@@ -42,7 +42,7 @@ Base.@kwdef mutable struct VariableNodeData{T<:InferenceVariable, P}
     """
     Variables each have a type, such as Position1, or RoME.Pose2, etc.
     """
-    variableType::T
+    variableType::T = T()
     """
     False if initial numerical values are not yet available or stored values are not ready for further processing yet.
     """
@@ -70,7 +70,7 @@ Base.@kwdef mutable struct VariableNodeData{T<:InferenceVariable, P}
     """
     solveKey identifier associated with thsi VariableNodeData object.
     """
-    solveKey::Symbol
+    solveKey::Symbol = :default
     """
     Future proofing field for when more multithreading operations on graph nodes are implemented, these conditions are meant to be used for atomic write transactions to this VND.
     """
@@ -81,20 +81,8 @@ end
 
 ##------------------------------------------------------------------------------
 ## Constructors
-
-VariableNodeData{T,P}(;solveKey::Symbol=:default) where {T <: InferenceVariable, P} = VariableNodeData(; val=Vector{P}(), variableType=T(), solveKey)
-VariableNodeData{T}(;solveKey::Symbol=:default ) where T <: InferenceVariable = VariableNodeData(; solveKey, variableType=T(), val=Vector{getPointType(T)}()) # {T, getPointType(T)}
-
-function VariableNodeData(variableType::T; solveKey::Symbol=:default) where T <: InferenceVariable
-    #
-    # p0 = getPointIdentity(T)
-    val = Vector{getPointType(T)}()
-    # P0[1] = p0
-    bw = zeros(0,0)
-    # bw[1] = zeros(getDimension(T))
-    VariableNodeData(;  val, bw, solveKey, variableType  )
-end
-
+VariableNodeData{T}(; kwargs...) where T <: InferenceVariable = VariableNodeData{T,getPointType(T)}(; kwargs...)
+VariableNodeData(variableType::InferenceVariable; kwargs...) = VariableNodeData{typeof(variableType)}(; kwargs...)
 
 
 ##==============================================================================

src/services/AbstractDFG.jl

@@ -466,20 +466,19 @@ end
 ##------------------------------------------------------------------------------
 """
     $(SIGNATURES)
-Get a list of IDs of the DFGVariables in the DFG.
+Get a list of labels of the DFGVariables in the graph.
 Optionally specify a label regular expression to retrieves a subset of the variables.
 Tags is a list of any tags that a node must have (at least one match).
 
-NOtes
+Notes
 - Returns `::Vector{Symbol}`
 
 Example
 ```julia
 listVariables(dfg, r"l", tags=[:APRILTAG;])
 ```
 
-Related:
-- ls
+See also: [`ls`](@ref)
 """
 function listVariables( dfg::AbstractDFG, 
                         regexFilter::Union{Nothing, Regex}=nothing; 
@@ -502,7 +501,7 @@ end
 
 """
     $(SIGNATURES)
-Get a list of the IDs (labels) of the DFGFactors in the DFG.
+Get a list of the labels of the DFGFactors in the DFG.
 Optionally specify a label regular expression to retrieves a subset of the factors.
 """
 function listFactors(dfg::G, regexFilter::Union{Nothing, Regex}=nothing; tags::Vector{Symbol}=Symbol[], solvable::Int=0)::Vector{Symbol} where G <: AbstractDFG