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Revert DFGFactor.jl and DFGVariable.jl structures closer to main
1 parent f6d7c32 commit eca9b7c

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+241
-235
lines changed

‎src/DistributedFactorGraphs.jl

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@@ -14,12 +14,8 @@ using SparseArrays
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include("entities/AbstractDFG.jl")
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include("entities/DFGFactor.jl")
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include("entities/DFGFactorSummary.jl")
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include("entities/SkeletonDFGFactor.jl")
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include("entities/DFGVariable.jl")
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include("entities/DFGVariableSummary.jl")
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include("entities/SkeletonDFGVariable.jl")
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include("entities/AbstractDFGSummary.jl")
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‎src/entities/DFGFactor.jl

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@@ -88,3 +88,53 @@ const PackedFunctionNodeData{T} = GenericFunctionNodeData{T, <: AbstractString}
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PackedFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, x7::String="", x8::Vector{Int}=Int[], x9::Int=0) where {T <: PackedInferenceType, S <: AbstractString} = GenericFunctionNodeData(x1, x2, x3, x4, x5, x6, x7, x8, x9)
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const FunctionNodeData{T} = GenericFunctionNodeData{T, Symbol}
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FunctionNodeData(x1, x2, x3, x4, x5::Symbol, x6::T, x7::String="", x8::Vector{Int}=Int[], x9::Int=0) where {T <: Union{FunctorInferenceType, ConvolutionObject}}= GenericFunctionNodeData{T, Symbol}(x1, x2, x3, x4, x5, x6, x7, x8, x9)
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## DFGFactorSummary
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"""
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$(TYPEDEF)
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Read-only summary factor structure for a DistributedFactorGraph factor.
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---
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Fields:
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$(TYPEDFIELDS)
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"""
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struct DFGFactorSummary <: AbstractDFGFactor
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"""Factor label, e.g. :x1f1.
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Accessor: `getLabel`"""
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label::Symbol
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"""Variable timestamp.
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Accessors: `getTimestamp`"""
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timestamp::DateTime
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"""Factor tags, e.g [:FACTOR].
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Accessors: `getTags`, `addTags!`, and `deleteTags!`"""
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tags::Set{Symbol}
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"""Internal ID used by some of the DFG drivers. We don't suggest using this outside of DFG."""
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_internalId::Int64
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"""Internal cache of the ordering of the neighbor variables. Rather use getNeighbors to get the list as this is an internal value.
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Accessors: `getVariableOrder`"""
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_variableOrderSymbols::Vector{Symbol}
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end
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## SkeletonDFGFactor
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"""
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$(TYPEDEF)
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Skeleton factor structure for a DistributedFactorGraph factor.
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---
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Fields:
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$(TYPEDFIELDS)
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"""
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struct SkeletonDFGFactor <: AbstractDFGFactor
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"""Factor label, e.g. :x1f1.
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Accessor: `getLabel`"""
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label::Symbol
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"""Factor tags, e.g [:FACTOR].
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Accessors: `getTags`, `addTags!`, and `deleteTags!`"""
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tags::Set{Symbol}
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"""Internal cache of the ordering of the neighbor variables. Rather use getNeighbors to get the list as this is an internal value.
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Accessors: `getVariableOrder`"""
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_variableOrderSymbols::Vector{Symbol}
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end
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#NOTE I feel like a want to force a variableOrderSymbols
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SkeletonDFGFactor(label::Symbol, variableOrderSymbols::Vector{Symbol} = Symbol[]) = SkeletonDFGFactor(label, Set{Symbol}(), variableOrderSymbols)

‎src/entities/DFGFactorSummary.jl

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This file was deleted.

‎src/entities/DFGVariable.jl

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@@ -1,7 +1,142 @@
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include("DFGVariable/PackedVariableNodeData.jl")
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include("DFGVariable/PointParametricEst.jl")
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include("DFGVariable/VariableNodeData.jl")
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## VariableNodeData.jl
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"""
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$(TYPEDEF)
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Data container for solver-specific data.
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---
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Fields:
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$(TYPEDFIELDS)
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"""
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mutable struct VariableNodeData{T<:InferenceVariable}
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val::Array{Float64,2}
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bw::Array{Float64,2}
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BayesNetOutVertIDs::Array{Symbol,1}
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dimIDs::Array{Int,1} # Likely deprecate
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dims::Int
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eliminated::Bool
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BayesNetVertID::Symbol # Union{Nothing, }
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separator::Array{Symbol,1}
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softtype::T
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initialized::Bool
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inferdim::Float64
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ismargin::Bool
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dontmargin::Bool
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solveInProgress::Int
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solvedCount::Int
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VariableNodeData{T}() where {T <:InferenceVariable} =
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new{T}(zeros(1,1), zeros(1,1), Symbol[], Int[], 0, false, :NOTHING, Symbol[], T(), false, 0.0, false, false, 0, 0)
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VariableNodeData{T}(val::Array{Float64,2},
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bw::Array{Float64,2},
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BayesNetOutVertIDs::Array{Symbol,1},
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dimIDs::Array{Int,1},
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dims::Int,eliminated::Bool,
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BayesNetVertID::Symbol,
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separator::Array{Symbol,1},
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softtype::T,
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initialized::Bool,
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inferdim::Float64,
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ismargin::Bool,
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dontmargin::Bool,
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solveInProgress::Int=0,
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solvedCount::Int=0) where T <: InferenceVariable =
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new{T}(val,bw,BayesNetOutVertIDs,dimIDs,dims,
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eliminated,BayesNetVertID,separator,
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softtype::T,initialized,inferdim,ismargin,
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dontmargin, solveInProgress, solvedCount)
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end
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VariableNodeData(val::Array{Float64,2},
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bw::Array{Float64,2},
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BayesNetOutVertIDs::Array{Symbol,1},
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dimIDs::Array{Int,1},
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dims::Int,eliminated::Bool,
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BayesNetVertID::Symbol,
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separator::Array{Symbol,1},
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softtype::T,
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initialized::Bool,
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inferdim::Float64,
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ismargin::Bool,
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dontmargin::Bool,
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solveInProgress::Int=0,
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solvedCount::Int=0) where T <: InferenceVariable =
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VariableNodeData{T}(val,bw,BayesNetOutVertIDs,dimIDs,dims,
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eliminated,BayesNetVertID,separator,
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softtype::T,initialized,inferdim,ismargin,
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dontmargin, solveInProgress, solvedCount)
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#
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VariableNodeData(softtype::T) where T <: InferenceVariable =
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VariableNodeData{T}(zeros(1,1), zeros(1,1), Symbol[], Int[], 0, false, :NOTHING, Symbol[], softtype, false, 0.0, false, false, 0, 0)
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##PackedVariableNodeData.jl
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"""
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$(TYPEDEF)
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Packed VariabeNodeData structure for serializing DFGVariables.
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---
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Fields:
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$(TYPEDFIELDS)
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"""
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mutable struct PackedVariableNodeData
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vecval::Array{Float64,1}
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dimval::Int
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vecbw::Array{Float64,1}
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dimbw::Int
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BayesNetOutVertIDs::Array{Symbol,1} # Int
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dimIDs::Array{Int,1}
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dims::Int
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eliminated::Bool
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BayesNetVertID::Symbol # Int
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separator::Array{Symbol,1} # Int
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softtype::String
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initialized::Bool
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inferdim::Float64
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ismargin::Bool
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dontmargin::Bool
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solveInProgress::Int
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solvedCount::Int
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PackedVariableNodeData() = new()
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PackedVariableNodeData(x1::Vector{Float64},
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x2::Int,
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x3::Vector{Float64},
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x4::Int,
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x5::Vector{Symbol}, # Int
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x6::Vector{Int},
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x7::Int,
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x8::Bool,
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x9::Symbol, # Int
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x10::Vector{Symbol}, # Int
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x11::String,
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x12::Bool,
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x13::Float64,
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x14::Bool,
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x15::Bool,
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x16::Int,
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solvedCount::Int) = new(x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16, solvedCount)
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end
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## PoiintParametricEst.jl
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# AbstractPointParametricEst interface
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abstract type AbstractPointParametricEst end
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"""
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$TYPEDEF
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Data container to store Parameteric Point Estimate (PPE) for mean and max.
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"""
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struct MeanMaxPPE <: AbstractPointParametricEst
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solverKey::Symbol #repeated because of Sam's request
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suggested::Vector{Float64}
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max::Vector{Float64}
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mean::Vector{Float64}
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lastUpdatedTimestamp::DateTime
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end
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MeanMaxPPE(solverKey::Symbol, suggested::Vector{Float64}, max::Vector{Float64},mean::Vector{Float64}) = MeanMaxPPE(solverKey, suggested, max, mean, now())
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getMaxPPE(est::AbstractPointParametricEst) = est.max
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getMeanPPE(est::AbstractPointParametricEst) = est.mean
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getSuggestedPPE(est::AbstractPointParametricEst) = est.suggested
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getLastUpdatedTimestamp(est::AbstractPointParametricEst) = est.lastUpdatedTimestamp
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## DFGVariable.jl
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"""
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$(TYPEDEF)
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Complete variable structure for a DistributedFactorGraph variable.
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solverDataDict=copy(o.solverDataDict), smallData=copy(o.smallData),
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bigData=copy(o.bigData), solvable=getSolvable(o), _internalId=getInternalId(o))
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end
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## DFGVariableSummary.jl
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"""
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$(TYPEDEF)
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Summary variable structure for a DistributedFactorGraph variable.
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---
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Fields:
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$(TYPEDFIELDS)
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"""
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struct DFGVariableSummary <: AbstractDFGVariable
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"""Variable label, e.g. :x1.
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Accessor: `getLabel`"""
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label::Symbol
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"""Variable timestamp.
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Accessors: `getTimestamp`, `setTimestamp!`"""
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timestamp::DateTime
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"""Variable tags, e.g [:POSE, :VARIABLE, and :LANDMARK].
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Accessors: `getTags`, `addTags!`, and `deleteTags!`"""
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tags::Set{Symbol}
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"""Dictionary of parametric point estimates keyed by solverDataDict keys
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Accessors: `addPPE!`, `updatePPE!`, and `deletePPE!`"""
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ppeDict::Dict{Symbol, <:AbstractPointParametricEst}
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"""Symbol for the softtype for the underlying variable.
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Accessor: `getSofttype`"""
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softtypename::Symbol
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"""Dictionary of large data associated with this variable.
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Accessors: `addBigDataEntry!`, `getBigDataEntry`, `updateBigDataEntry!`, and `deleteBigDataEntry!`"""
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bigData::Dict{Symbol, AbstractBigDataEntry}
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"""Internal ID used by some of the DFG drivers. We don't suggest using this outside of DFG."""
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_internalId::Int64
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end
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## SkeletonDFGVariable.jl
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"""
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$(TYPEDEF)
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Skeleton variable structure for a DistributedFactorGraph variable.
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---
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Fields:
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$(TYPEDFIELDS)
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"""
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struct SkeletonDFGVariable <: AbstractDFGVariable
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"""Variable label, e.g. :x1.
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Accessor: `getLabel`"""
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label::Symbol
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"""Variable tags, e.g [:POSE, :VARIABLE, and :LANDMARK].
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Accessors: `getTags`, `addTags!`, and `deleteTags!`"""
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tags::Set{Symbol}
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end
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SkeletonDFGVariable(label::Symbol) = SkeletonDFGVariable(label, Set{Symbol}())

‎src/entities/DFGVariable/PackedVariableNodeData.jl

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‎src/entities/DFGVariable/PointParametricEst.jl

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