changes for fixed lag

Author: dehann

src/NeedsAHome.jl

@@ -1,5 +1,5 @@
 
-export hasFactor, hasVariable
+export hasFactor, hasVariable, isInitialized
 
 """
     $SIGNATURES
@@ -18,3 +18,25 @@ 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
+
+
+"""
+    $SIGNATURES
+
+Returns state of vertex data `.initialized` flag.
+
+Notes:
+- used by both factor graph variable and Bayes tree clique logic.
+TODO: Refactor
+"""
+function isInitialized(var::DFGVariable; key::Symbol=:default)::Bool
+  return var.solverDataDict[key].initialized
+end
+function isInitialized(fct::DFGFactor; key::Symbol=:default)::Bool
+  return fct.solverDataDict[key].initialized
+end
+function isInitialized(dfg::G, label::Symbol; key::Symbol=:default)::Bool where G <: AbstractDFG
+  # nothing to do for factors
+  # return dfg.g.vertices[dfg.labelDict[label]].dfgNode.solverDataDict[key].initialized
+  return true
+end

src/services/GraphsDFG.jl

@@ -137,7 +137,7 @@ function addFactor!(dfg::GraphsDFG, variables::Vector{DFGVariable}, factor::DFGF
         Graphs.add_edge!(dfg.g, edge)
     end
     # Track insertion
-    push!(dfg.addHistory, factor.label)
+    # push!(dfg.addHistory, factor.label)
 
     return true
 end

test/interfaceTests.jl

@@ -21,7 +21,7 @@ end
     @test ls(dfg, r"a") == [v1]
     @test lsf(dfg, r"f*") == [f1]
     # Accessors
-    @test getAddHistory(dfg) == [:a, :b, :f1]
+    @test getAddHistory(dfg) == [:a, :b] #, :f1
     @test getDescription(dfg) != nothing
     @test getLabelDict(dfg) != nothing
     # Existence