Merge pull request #223 from JuliaRobotics/bug/4Q19_isvariable_isfactor

isVariable and isFactor

Author: GearsAD

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -70,18 +70,18 @@ end
 """
     $SIGNATURES
 
-Return whether `sym::Symbol` represents a variable vertex in the graph.
+Return whether `sym::Symbol` represents a variable in the graph dfg.
 """
 isVariable(dfg::CloudGraphsDFG, sym::Symbol)::Bool =
-    "VARIABLE" in _getNodeTags(dfg.neo4jInstance, [dfg.userId, dfg.robotId, dfg.sessionId, String(sym)])
+    _getNodeCount(dfg.neo4jInstance, ["VARIABLE", dfg.userId, dfg.robotId, dfg.sessionId, String(sym)]) == 1
 
 """
     $SIGNATURES
 
-Return whether `sym::Symbol` represents a factor vertex in the graph.
+Return whether `sym::Symbol` represents a factor in the graph dfg.
 """
 isFactor(dfg::CloudGraphsDFG, sym::Symbol)::Bool =
-    "FACTOR" in _getNodeTags(dfg.neo4jInstance, [dfg.userId, dfg.robotId, dfg.sessionId, String(sym)])
+    _getNodeCount(dfg.neo4jInstance, ["FACTOR", dfg.userId, dfg.robotId, dfg.sessionId, String(sym)]) == 1
 
 """
     $(SIGNATURES)

src/GraphsDFG/services/GraphsDFG.jl

@@ -63,6 +63,13 @@ function exists(dfg::GraphsDFG, node::N) where N <: DFGNode
 end
 exists(dfg::GraphsDFG, nId::Symbol) = haskey(dfg.labelDict, nId)
 
+function isVariable(dfg::GraphsDFG, sym::Symbol)
+	return exists(dfg, sym) && dfg.g.vertices[dfg.labelDict[sym]].dfgNode isa DFGVariable
+end
+
+function isFactor(dfg::GraphsDFG, sym::Symbol)
+	return exists(dfg, sym) && dfg.g.vertices[dfg.labelDict[sym]].dfgNode isa DFGFactor
+end
 
 """
     $(SIGNATURES)

src/LightDFG/LightDFG.jl

@@ -22,6 +22,8 @@ import ...DistributedFactorGraphs:  setSolverParams,
                                     addFactor!,
                                     getSolverParams,
                                     exists,
+                                    isVariable,
+                                    isFactor,
                                     getDescription,
                                     updateVariable!,
                                     updateFactor!,

src/LightDFG/services/LightDFG.jl

@@ -45,6 +45,13 @@ exists(dfg::LightDFG, nId::Symbol) = haskey(dfg.g.labels, nId)
 
 exists(dfg::LightDFG, node::DFGNode) = exists(dfg, node.label)
 
+function isVariable(dfg::LightDFG{P,V,F}, sym::Symbol) where {P <: AbstractParams, V <: AbstractDFGVariable, F <: AbstractDFGFactor}
+	return haskey(dfg.g.variables, sym)
+end
+
+function isFactor(dfg::LightDFG{P,V,F}, sym::Symbol) where {P <: AbstractParams, V <: AbstractDFGVariable, F <: AbstractDFGFactor}
+	return haskey(dfg.g.factors, sym)
+end
 
 
 """

src/SymbolDFG/SymbolDFG.jl

@@ -16,6 +16,8 @@ import ...DistributedFactorGraphs:  setSolverParams,
                                     addFactor!,
                                     getSolverParams,
                                     exists,
+                                    isVariable,
+                                    isFactor,
                                     getDescription,
                                     updateVariable!,
                                     updateFactor!,

src/SymbolDFG/services/SymbolDFG.jl

@@ -27,7 +27,13 @@ exists(dfg::SymbolDFG, nId::Symbol) = haskey(dfg.g.fadjdict, nId)
 
 exists(dfg::SymbolDFG, node::DFGNode) = exists(dfg, node.label)
 
+function isVariable(dfg::SymbolDFG{P,V,F}, sym::Symbol) where {P <:AbstractParams, V <: DFGNode, F <: DFGNode}
+	return haskey(dfg.g.variables, sym)
+end
 
+function isFactor(dfg::SymbolDFG{P,V,F}, sym::Symbol) where {P <:AbstractParams, V <: DFGNode, F <: DFGNode}
+	return haskey(dfg.g.factors, sym)
+end
 
 """
     $(SIGNATURES)

src/services/AbstractDFG.jl

@@ -544,16 +544,32 @@ end
 """
     $SIGNATURES
 
-Return whether `sym::Symbol` represents a variable vertex in the graph.
+Return whether `sym::Symbol` represents a variable vertex in the graph DFG.
+Checks whether it both exists in the graph and is a variable.
+(If you rather want a quick for type, just do node isa DFGVariable)
 """
-isVariable(dfg::G, sym::Symbol) where G <: AbstractDFG = exists(dfg, sym)
+function isVariable(dfg::G, sym::Symbol) where G <: AbstractDFG
+	error("isVariable not implemented for $(typeof(dfg))")
+end
+# Alias - bit ridiculous but know it'll come up at some point. Does existential and type check.
+function isVariable(dfg::G, node::N)::Bool where {G <: AbstractDFG, N <: DFGNode}
+	return isVariable(dfg, node.label)
+end
 
 """
     $SIGNATURES
 
-Return whether `sym::Symbol` represents a factor vertex in the graph.
+Return whether `sym::Symbol` represents a factor vertex in the graph DFG.
+Checks whether it both exists in the graph and is a factor.
+(If you rather want a quicker for type, just do node isa DFGFactor)
 """
-isFactor(dfg::G, sym::Symbol) where G <: AbstractDFG = exists(dfg, sym)
+function isFactor(dfg::G, sym::Symbol) where G <: AbstractDFG
+	error("isFactor not implemented for $(typeof(dfg))")
+end
+# Alias - bit ridiculous but know it'll come up at some point. Does existential and type check.
+function isFactor(dfg::G, node::N)::Bool where {G <: AbstractDFG, N <: DFGNode}
+	return isFactor(dfg, node.label)
+end
 
 """
     $SIGNATURES

test/iifInterfaceTests.jl

@@ -115,6 +115,14 @@ end
     @test exists(dfg, :a) == true
     @test exists(dfg, v1) == true
     @test exists(dfg, :nope) == false
+    # isFactor and isVariable
+    @test isFactor(dfg, f1.label)
+    @test !isFactor(dfg, v1.label)
+    @test isVariable(dfg, v1.label)
+    @test !isVariable(dfg, f1.label)
+    @test !isVariable(dfg, :doesntexist)
+    @test !isFactor(dfg, :doesntexist)
+
     # Sorting of results
     # TODO - this function needs to be cleaned up
     unsorted = [:x1_3;:x1_6;:l1;:april1] #this will not work for :x1x2f1

test/interfaceTests.jl

@@ -165,6 +165,14 @@ end
     @test isSolveInProgress(v1) == 1
     @test isSolveInProgress(f1) == 1
 
+    # isFactor and isVariable
+    @test isFactor(dfg, f1.label)
+    @test !isFactor(dfg, v1.label)
+    @test isVariable(dfg, v1.label)
+    @test !isVariable(dfg, f1.label)
+    @test !isVariable(dfg, :doesntexist)
+    @test !isFactor(dfg, :doesntexist)
+
     # Session, robot, and user small data tests
     smallUserData = Dict{Symbol, String}(:a => "42", :b => "Hello")
     smallRobotData = Dict{Symbol, String}(:a => "43", :b => "Hello")