Merge pull request #930 from JuliaRobotics/23Q1/enh/comparefactorfixes

update compareFactor

Author: dehann

src/entities/DFGFactor.jl

@@ -8,7 +8,7 @@ abstract type AbstractPackedFactor end
 
 abstract type AbstractPrior <: AbstractFactor end
 abstract type AbstractRelative <: AbstractFactor end
-abstract type AbstractRelativeRoots <: AbstractRelative end
+abstract type AbstractRelativeRoots <: AbstractRelative end    # NOTE Cannot be used for partials
 abstract type AbstractRelativeMinimize <: AbstractRelative end
 abstract type AbstractManifoldMinimize <: AbstractRelative end # FIXME move here from IIF
 

src/services/CompareUtils.jl

@@ -234,6 +234,9 @@ end
     $SIGNATURES
 
 Compare that all fields are the same in a `::FactorGraph` factor.
+
+DevNotes
+- TODO `getSolverData(A).fnc.varValsAll / varidx` are only defined downstream, so should should this function not be in IIF?
 """
 function compareFactor(A::DFGFactor,
                        B::DFGFactor;
@@ -256,11 +259,12 @@ function compareFactor(A::DFGFactor,
     TP = TP & (skipsamples || compareAll(getSolverData(A).fnc.measurement, getSolverData(B).fnc.measurement, show=show, skip=skip))
   end
   @debug "compareFactor 4/5" TP
-  if !(:params in skip)
-    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.params, getSolverData(B).fnc.params, show=show, skip=skip))
+  if !(:varValsAll in skip) && hasfield(typeof(getSolverData(A).fnc), :varValsAll)
+    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varValsAll, getSolverData(B).fnc.varValsAll, show=show, skip=skip))
   end
-  if !(:varidx in skip)
-    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varidx, getSolverData(B).fnc.varidx, show=show, skip=skip))
+  @debug "compareFactor 5/5" TP
+  if !(:varidx in skip) && hasfield(typeof(getSolverData(A).fnc), :varidx) && getSolverData(A).fnc.varidx isa Base.RefValue
+    TP = TP & (skipcompute || compareAll(getSolverData(A).fnc.varidx[], getSolverData(B).fnc.varidx[], show=show, skip=skip))
   end
 
   return TP