Merge pull request #102 from JuliaRobotics/hotfix/v0_3_2_orderingissue

Hotfix: v0.3.2 orderingissue

Author: GearsAD

src/GraphsDFG/services/GraphsDFG.jl

@@ -391,18 +391,18 @@ function _copyIntoGraph!(sourceDFG::GraphsDFG, destDFG::GraphsDFG, variableFacto
     for factor in sourceFactors
         if !haskey(destDFG.labelDict, factor.dfgNode.label)
             # Get the original factor variables (we need them to create it)
-            variables = in_neighbors(factor, sourceDFG.g)
-            # Find the labels and associated variables in our new subgraph
+            neighVarIds = getNeighbors(sourceDFG, factor.dfgNode.label) #OLD: in_neighbors(factor, sourceDFG.g)
+            # Find the labels and associated neighVarIds in our new subgraph
             factVariables = DFGVariable[]
-            for variable in variables
-                if haskey(destDFG.labelDict, variable.dfgNode.label)
-                    push!(factVariables, getVariable(destDFG, variable.dfgNode.label))
+            for neighVarId in neighVarIds
+                if haskey(destDFG.labelDict, neighVarId)
+                    push!(factVariables, getVariable(destDFG, neighVarId))
                     #otherwise ignore
                 end
             end
 
             # Only if we have all of them should we add it (otherwise strange things may happen on evaluation)
-            if includeOrphanFactors || length(factVariables) == length(variables)
+            if includeOrphanFactors || length(factVariables) == length(neighVarIds)
                 addFactor!(destDFG, factVariables, deepcopy(factor.dfgNode))
             end
         end

test/interfaceTests.jl

@@ -191,6 +191,17 @@ end
     dfgSubgraph = getSubgraph(dfg,[:x1, :x2, :x1x2f1])
     # Only returns x1 and x2
     @test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
+
+    # DFG issue #95 - confirming that getSubgraphAroundNode retains order
+    # REF: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/95
+    for fId in getVariableIds(dfg)
+        # Get a subgraph of this and it's related factors+variables
+        dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2)
+        # For each factor check that the order the copied graph == original
+        for fact in getFactors(dfgSubgraph)
+            @test fact._variableOrderSymbols == getFactor(dfg, fact.label)._variableOrderSymbols
+        end
+    end
 end
 
 @testset "Producing Dot Files" begin