Use Abstract Factor and Variable and not Node in Light FG

Author: Affie

src/LightDFG/FactorGraphs/FactorGraphs.jl

@@ -31,19 +31,22 @@ export
     filter_vertices,
     reverse
 
-import DistributedFactorGraphs: DFGNode
-const AbstractNodeType = DFGNode
+# import DistributedFactorGraphs: DFGNode
+# const AbstractNodeType = DFGNode
+import DistributedFactorGraphs: AbstractDFGVariable, AbstractDFGFactor
+const AbstractVariableType = AbstractDFGVariable
+const AbstractFactorType = AbstractDFGFactor
 
 include("BiMaps.jl")
 
-struct FactorGraph{T <: Integer,V <: AbstractNodeType, F <: AbstractNodeType} <: AbstractGraph{T}
+struct FactorGraph{T <: Integer,V <: AbstractVariableType, F <: AbstractFactorType} <: AbstractGraph{T}
     graph::SimpleGraph{T}
     labels::BiDictMap{T}
     variables::Dict{Symbol,V}
     factors::Dict{Symbol,F}
 end
 
-function FactorGraph{T, V, F}(nv::Int=100, nf::Int=100) where {T <: Integer, V <: AbstractNodeType, F <: AbstractNodeType}
+function FactorGraph{T, V, F}(nv::Int=100, nf::Int=100) where {T <: Integer, V <: AbstractVariableType, F <: AbstractFactorType}
     fadjlist = Vector{Vector{T}}()
         sizehint!(fadjlist, nv + nf)
     g = SimpleGraph{T}(0, fadjlist)
@@ -55,10 +58,10 @@ function FactorGraph{T, V, F}(nv::Int=100, nf::Int=100) where {T <: Integer, V <
     return FactorGraph{T, V, F}(g, labels, variables, factors)
 end
 
-# fg = FactorGraph{Int, AbstractNodeType, AbstractNodeType}()
+# fg = FactorGraph{Int, AbstractVariableType, AbstractFactorType}()
 
-FactorGraph() = FactorGraph{Int, AbstractNodeType, AbstractNodeType}()
-FactorGraph{V,F}() where {V <: AbstractNodeType, F <: AbstractNodeType} = FactorGraph{Int, V, F}()
+FactorGraph() = FactorGraph{Int, AbstractVariableType, AbstractFactorType}()
+FactorGraph{V,F}() where {V <: AbstractVariableType, F <: AbstractFactorType} = FactorGraph{Int, V, F}()
 
 
 function show(io::IO, g::FactorGraph)

src/LightDFG/services/LightDFG.jl

@@ -35,7 +35,7 @@ exists(dfg::LightDFG, node::DFGNode) = exists(dfg, node.label)
     $(SIGNATURES)
 Add a DFGVariable to a DFG.
 """
-function addVariable!(dfg::LightDFG, variable::V)::Bool where V <: AbstractDFGVariable
+function addVariable!(dfg::LightDFG{<:AbstractParams, V, <:AbstractDFGFactor}, variable::V)::Bool where V <: AbstractDFGVariable
 	#TODO should this be an error
 	if haskey(dfg.g.variables, variable.label)
 		error("Variable '$(variable.label)' already exists in the factor graph")
@@ -56,7 +56,7 @@ end
     $(SIGNATURES)
 Add a DFGFactor to a DFG.
 """
-function addFactor!(dfg::LightDFG, variables::Vector{V}, factor::F)::Bool where {V <: AbstractDFGVariable, F <: AbstractDFGFactor}
+function addFactor!(dfg::LightDFG{<:AbstractParams, V, F}, variables::Vector{V}, factor::F)::Bool where {V <: AbstractDFGVariable, F <: AbstractDFGFactor}
     # if haskey(dfg.g.metaindex[:label], factor.label)
     #     error("Factor '$(factor.label)' already exists in the factor graph")
     # end
@@ -82,7 +82,7 @@ end
     $(SIGNATURES)
 Add a DFGFactor to a DFG.
 """
-function addFactor!(dfg::LightDFG, variableLabels::Vector{Symbol}, factor::F)::Bool where F <: AbstractDFGFactor
+function addFactor!(dfg::LightDFG{<:AbstractParams, <:AbstractDFGVariable, F}, variableLabels::Vector{Symbol}, factor::F)::Bool where F <: AbstractDFGFactor
 	#TODO should this be an error
 	if haskey(dfg.g.factors, factor.label)
         error("Factor '$(factor.label)' already exists in the factor graph")

src/services/AbstractDFG.jl

@@ -578,7 +578,7 @@ Returns a LightDFG{NoSolverParams, DFGVariableSummary, DFGFactorSummary}.
 """
 function getSummaryGraph(dfg::G)::LightDFG{NoSolverParams, DFGVariableSummary, DFGFactorSummary} where {G <: AbstractDFG}
 	summaryDfg = LightDFG{NoSolverParams, DFGVariableSummary, DFGFactorSummary}(
-		description="Summary of $(dfg.description))",
+		description="Summary of $(dfg.description)",
 		userId=dfg.userId,
 		robotId=dfg.robotId,
 		sessionId=dfg.sessionId)