Merge pull request #21 from JuliaRobotics/feature/hasfctvar

new functions for Graphs

Author: dehann

src/DistributedFactorGraphs.jl

@@ -31,4 +31,7 @@ include("services/GraphsDFG.jl")
 include("services/AbstractDFG.jl")
 include("services/DFGVariable.jl")
 
+# not sure where to put
+include("NeedsAHome.jl")
+
 end

src/NeedsAHome.jl

@@ -0,0 +1,20 @@
+
+export hasFactor, hasVariable
+
+"""
+    $SIGNATURES
+
+Return boolean whether a factor `label` is present in `<:AbstractDFG`.
+"""
+function hasFactor(dfg::G, label::Symbol)::Bool where {G <: AbstractDFG}
+  return haskey(dfg.labelDict, label)
+end
+
+"""
+    $(SIGNATURES)
+
+Return `::Bool` on whether `dfg` contains the variable `lbl::Symbol`.
+"""
+function hasVariable(dfg::G, label::Symbol)::Bool where {G <: AbstractDFG}
+  return haskey(dfg.labelDict, label) # haskey(vertices(dfg.g), label)
+end

src/services/GraphsDFG.jl

@@ -293,7 +293,7 @@ function lsf(dfg::GraphsDFG, regexFilter::Union{Nothing, Regex}=nothing)::Vector
     return factors
 end
 function lsf(dfg::GraphsDFG, label::Symbol)::Vector{Symbol}
-  return GraphsJl.getNeighbors(dfg, label)
+  return getNeighbors(dfg, label)
 end
 
 # Alias