Merge pull request #198 from JuliaRobotics/feature/4Q19/ppesuggestedhelper

Add getSuggestedPPE

Author: GearsAD

src/DistributedFactorGraphs.jl

@@ -21,6 +21,7 @@ export AbstractParams, NoSolverParams
 export DFGNode, DFGVariable, DFGFactor, AbstractDFGVariable, AbstractDFGFactor
 export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariable, ConvolutionObject
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
+export getMaxPPE, getMeanPPE, getSuggestedPPE
 export label, timestamp, tags, estimates, estimate, data, softtype, solverData, getData, solverDataDict, setSolverData, internalId, smallData, bigData
 export DFGVariableSummary, DFGFactorSummary, AbstractDFGSummary
 

src/entities/DFGVariable.jl

@@ -97,6 +97,7 @@ MeanMaxPPE(solverKey::Symbol, suggested::Vector{Float64}, max::Vector{Float64},m
 
 getMaxPPE(est::AbstractPointParametricEst) = est.max
 getMeanPPE(est::AbstractPointParametricEst) = est.mean
+getSuggestedPPE(est::AbstractPointParametricEst) = est.suggested
 getLastUpdatedTimestamp(est::AbstractPointParametricEst) = est.lastUpdatedTimestamp
 
 

test/interfaceTests.jl

@@ -216,6 +216,9 @@ end
     #For now spot check
     @test solverDataDict(newvar) == solverDataDict(var)
     @test estimates(newvar) == estimates(var)
+    @test getMaxPPE(estimates(newvar)[:default]) == estimates(newvar)[:default].max
+    @test getMeanPPE(estimates(newvar)[:default]) == estimates(newvar)[:default].mean
+    @test getSuggestedPPE(estimates(newvar)[:default]) == estimates(newvar)[:default].suggested
 
     # Delete :default and replace to see if new ones can be added
     delete!(estimates(newvar), :default)