special snowflake buildSubgraphFromLabels

Author: dehann

src/needsahome.jl

@@ -11,26 +11,25 @@ Will paste in as-is for now and we can figure it out as we go.
 
 Notes
 - Slighly messy internals, but gets the job done -- some room for performance improvement.
+- Defaults to GraphDFG, but likely to change to LightDFG in future.
+
 Related
-getVariableIds
+
+getVariableIds, _copyIntoGraph!
 """
 function buildSubgraphFromLabels!(dfg::G,
                                   syms::Vector{Symbol},
-                                  destType::Type{<:AbstractDFG}=GraphsDFG; #Which one? I don't have a strong opinion on this.
+                                  destType::Type{<:AbstractDFG}=GraphsDFG;
                                   solvable::Int=0)::G where G <: AbstractDFG
-
+  #
+  #Same type
+  LocalGraphType = G <: InMemoryDFGTypes ? G : destType{typeof(getSolverParms(dfg))}
   # data structure for cliq sub graph
-  if G <: InMemoryDFGTypes
-    #Same type
-    cliqSubFg = G(params=getSolverParams(dfg))
-  else
-    #Default if not in-memory
-    cliqSubFg = destType{typeof(getSolverParms(dfg))}(params=getSolverParams(dfg))
-  end
+  cliqSubFg = LocalGraphType(params=getSolverParams(dfg))
 
   # add a little too many variables (since we need the factors)
   for sym in syms
-    if getSolvable(dfg, sym) >= solvable
+    if solvable <= getSolvable(dfg, sym)
       getSubgraphAroundNode(dfg, getVariable(dfg, sym), 2, false, cliqSubFg, solvable=solvable)
     end
   end
@@ -50,3 +49,60 @@ function buildSubgraphFromLabels!(dfg::G,
 
   return cliqSubFg
 end
+
+
+"""
+    $SIGNATURES
+
+IIF clique specific version of building subgraphs.
+
+Notes
+- Special snowflake that adds only factors related to `frontals`.
+
+DevNotes
+- DF: Could we somehow better consolidate the functionality of this method into `buildSubgraphFromLabels!` above, which in turn should be consolidated as SamC suggests.
+- Since this function has happened more than once, it seems the name `buildSubgraphFromLabels!` might stick around, even if it just becomes a wrapper.
+
+Related
+
+_copyIntoGraph!
+"""
+function buildSubgraphFromLabels!(dfg::AbstractDFG,
+                                  cliqSubFg::AbstractDFG,
+                                  frontals::Vector{Symbol},
+                                  separators::Vector{Symbol};
+                                  solvable::Int=0)
+  #
+  for sym in separators
+    (solvable <= getSolvable(dfg, sym)) && DFG.addVariable!(cliqSubFg, deepcopy(DFG.getVariable(dfg, sym)))
+  end
+
+  addfac = Symbol[]
+  for sym in frontals
+    if solvable <= getSolvable(dfg, sym)
+      DFG.addVariable!(cliqSubFg, deepcopy(DFG.getVariable(dfg, sym)))
+      append!(addfac, getNeighbors(dfg,sym))
+    end
+  end
+
+  allvars = ls(cliqSubFg)
+  for sym in addfac
+    fac = DFG.getFactor(dfg, sym)
+    vos = fac._variableOrderSymbols
+    #TODO don't add duplicates to start with
+    if !exists(cliqSubFg,fac) && vos ⊆ allvars && solvable <= getSolvable(dfg, sym)
+      DFG.addFactor!(cliqSubFg, fac._variableOrderSymbols, deepcopy(fac))
+    end
+  end
+
+  # remove orphans
+  for fct in DFG.getFactors(cliqSubFg)
+    # delete any neighboring factors first
+    if length(getNeighbors(cliqSubFg, fct)) != length(fct._variableOrderSymbols)
+      DFG.deleteFactor!(cliqSubFg, fc)
+      @error "deleteFactor! this should not happen"
+    end
+  end
+
+  return cliqSubFg
+end