Merge pull request #83 from JuliaRobotics/maintenance/3Q19/hasfactor

add features from IIF

Author: dehann

src/NeedsAHome.jl

@@ -1,5 +1,5 @@
 
-export hasFactor, hasVariable, isInitialized
+export hasFactor, hasVariable, isInitialized, getFactorFunction, isVariable, isFactor
 
 """
     $SIGNATURES
@@ -38,3 +38,37 @@ end
 function isInitialized(dfg::G, label::Symbol; key::Symbol=:default)::Bool where G <: AbstractDFG
   return isInitialized(getVariable(dfg, label), key=key)
 end
+
+
+"""
+    $SIGNATURES
+
+Return whether `sym::Symbol` represents a variable vertex in the graph.
+"""
+isVariable(dfg::G, sym::Symbol) where G <: AbstractDFG = hasVariable(dfg, sym)
+
+"""
+    $SIGNATURES
+
+Return whether `sym::Symbol` represents a factor vertex in the graph.
+"""
+isFactor(dfg::G, sym::Symbol) where G <: AbstractDFG = hasFactor(dfg, sym)
+
+"""
+    $SIGNATURES
+
+Return reference to the user factor in `<:AbstractDFG` identified by `::Symbol`.
+"""
+getFactorFunction(fcd::GenericFunctionNodeData) = fcd.fnc.usrfnc!
+getFactorFunction(fc::DFGFactor) = getFactorFunction(getData(fc))
+function getFactorFunction(dfg::G, fsym::Symbol) where G <: AbstractDFG
+  getFactorFunction(getFactor(dfg, fsym))
+end
+
+
+"""
+    $SIGNATURES
+
+Display and return to console the user factor identified by tag name.
+"""
+showFactor(fgl::G, fsym::Symbol) where G <: AbstractDFG = @show getFactor(fgl,fsym)