Merge pull request #193 from JuliaRobotics/enhancement/movingcomparefactortodfg

Adding factor data compare to DFG

Author: GearsAD

src/DistributedFactorGraphs.jl

@@ -58,6 +58,7 @@ export getSummary, getSummaryGraph
 
 # Comparisons
 export
+    compare,
     compareField,
     compareFields,
     compareAll,

src/services/DFGFactor.jl

@@ -1,4 +1,4 @@
-import Base: convert
+import Base: convert, ==
 
 function convert(::Type{DFGFactorSummary}, f::DFGFactor)
     return DFGFactorSummary(f.label, deepcopy(f.tags), f._internalId, deepcopy(f._variableOrderSymbols))
@@ -73,6 +73,19 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any}, iifModule)::DFGFac
     return factor
 end
 
+# Compare FunctionNodeData
+function compare(a::GenericFunctionNodeData{T1,S},b::GenericFunctionNodeData{T2,S}) where {T1, T2, S}
+  # TODO -- beef up this comparison to include the gwp
+  TP = true
+  TP = TP && a.fncargvID == b.fncargvID
+  TP = TP && a.eliminated == b.eliminated
+  TP = TP && a.potentialused == b.potentialused
+  TP = TP && a.edgeIDs == b.edgeIDs
+  TP = TP && a.frommodule == b.frommodule
+  # TP = TP && typeof(a.fnc) == typeof(b.fnc)
+  return TP
+end
+
 """
     $(SIGNATURES)
 Equality check for DFGFactor.