InMemoryDFGTypes UpdateVariableSolverData!

Author: Affie

src/DistributedFactorGraphs.jl

@@ -78,5 +78,6 @@ end
 
 # To be moved as necessary.
 include("Common.jl")
+include("services/CommonInMemoryDFG.jl")
 
 end

src/services/CommonInMemoryDFG.jl

@@ -0,0 +1,23 @@
+## Common funtions to all InMemoryDFGTypes
+
+
+#TODO consider moving IIF InMemoryDFGTypes here and exporting,
+# but what IIF supports and what DFG support is different?
+# define and don't export yet
+const InMemoryDFGTypes = Union{SymbolDFG, LightDFG, GraphsDFG, MetaGraphsDFG}
+#Union{SymbolDFG, LightDFG}
+
+"""
+    $(SIGNATURES)
+Update solver and estimate data for a variable (variable can be from another graph).
+"""
+function updateVariableSolverData!(dfg::InMemoryDFGTypes, sourceVariable::DFGVariable)::DFGVariable
+    #TODO test graphs that pass var/factor by reference
+    if !exists(dfg, sourceVariable)
+        error("Source variable '$(sourceVariable.label)' doesn't exist in the graph.")
+    end
+    var = getVariable(dfg, sourceVariable.label)
+    merge!(var.estimateDict, sourceVariable.estimateDict)
+    merge!(var.solverDataDict, sourceVariable.solverDataDict)
+    return sourceVariable
+end

test/interfaceTests.jl

@@ -94,6 +94,20 @@ end
     @test internalId(f1) == f1._internalId
 end
 
+@testset "Updating Nodes" begin
+    global dfg
+    v1 = getVariable(dfg, :a)
+    newv1 = deepcopy(v1)
+    newv1.estimateDict[:default] = Dict{Symbol, VariableEstimate}(
+        :max => VariableEstimate(:default, :max, [100.0]),
+        :mean => VariableEstimate(:default, :mean, [50.0]),
+        :ppe => VariableEstimate(:default, :ppe, [75.0]))
+    updateVariableSolverData!(dfg, newv1)
+    #TODO maybe implement ==; @test newv1==v1
+    #For now spot check
+    @test newv1.solverDataDict == v1.solverDataDict
+end
+
 # Connectivity test
 @testset "Connectivity Test" begin
     global dfg,v1,v2,f1