Merge branch 'master' into feature/20Q1/VNDCondition

dehann · dehann · commit feb7a48ae003 · 2020-03-03T12:41:24.000-05:00
diff --git a/.travis.yml b/.travis.yml
@@ -26,7 +26,7 @@ jobs:
       if: NOT branch =~ ^release.*$
     - arch: arm64
     - stage: "Documentation"
-      julia: 1.2
+      julia: 1.3
       os: linux
       script:
         - julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
diff --git a/Project.toml b/Project.toml
@@ -1,14 +1,13 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.6.0"
+version = "0.7.0"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
@@ -24,7 +23,6 @@ Unmarshal = "cbff2730-442d-58d7-89d1-8e530c41eb02"
 Colors = "0.8, 0.9, 0.10, 0.11"
 Distributions = "0.18, 0.19, 0.20, 0.21, 0.22, 0.23, 0.24, 0.25, 1"
 DocStringExtensions = "0.8, 0.9, 0.10, 1"
-GraphPlot = "0.3.1, 0.4"
 Graphs = "0.10.2, 0.11, 1"
 JSON = "0.21"
 JSON2 = "0.3.1"
diff --git a/attic/sandbox.jl b/attic/sandbox.jl
@@ -32,7 +32,7 @@ function copyGraph!(destDFG::AbstractDFG, sourceDFG::AbstractDFG, variableFactor
         # Only if we have all of them should we add it (otherwise strange things may happen on evaluation)
         if includeOrphanFactors || length(factVariableIds) == length(sourceFactorVariableIds)
             if !exists(destDFG, factor)
-                addFactor!(destDFG, factVariableIds, factor)
+                addFactor!(destDFG, factor)
             end
         end
     end
diff --git a/docs/extra/CoreAPI.fods b/docs/extra/CoreAPI.fods
diff --git a/docs/src/imgs/CoreAPI.png b/docs/src/imgs/CoreAPI.png
diff --git a/docs/src/ref_api.md b/docs/src/ref_api.md
@@ -1 +1,3 @@
 # Common API Interface
+
+![imgs/CoreAPI.png](imgs/CoreAPI.png)
diff --git a/src/BigData/services/AbstractDataStore.jl b/src/BigData/services/AbstractDataStore.jl
@@ -49,13 +49,13 @@ Returns the list of copied entries.
 """
 function copyStore(sourceStore::D1, destStore::D2; sourceEntries=listEntries(sourceStore))::Vector{E} where {T, D1 <: AbstractDataStore{T}, D2 <: AbstractDataStore{T}, E <: AbstractBigDataEntry}
     # Quick check
-    destEntries = listEntries(destStore)
+    destEntries = listStoreEntries(destStore)
     typeof(sourceEntries) != typeof(destEntries) && error("Can't copy stores, source has entries of type $(typeof(sourceEntries)), destination has entries of type $(typeof(destEntries)).")
     # Same source/destination check
     sourceStore == destStore && error("Can't specify same store for source and destination.")
     # Otherwise, continue
     for sourceEntry in sourceEntries
-        addData!(destStore, deepcopy(sourceEntry), getData(sourceStore, sourceEntry))
+        addBigData!(destStore, deepcopy(sourceEntry), getBigData(sourceStore, sourceEntry))
     end
     return sourceEntries
 end
diff --git a/src/CloudGraphsDFG/services/CloudGraphsDFG.jl b/src/CloudGraphsDFG/services/CloudGraphsDFG.jl
@@ -201,9 +201,6 @@ function getFactor(dfg::CloudGraphsDFG, label::Union{Symbol, String})::DFGFactor
 
     # Lastly, rebuild the metadata
     factor = dfg.rebuildFactorMetadata!(dfg, factor)
-    # GUARANTEED never to bite us in the future...
-    # ... TODO: refactor if changed: https://github.com/JuliaRobotics/IncrementalInference.jl/issues/350
-    getSolverData(factor).fncargvID = factor._variableOrderSymbols
 
     return factor
 end
diff --git a/src/Deprecated.jl b/src/Deprecated.jl
@@ -2,38 +2,6 @@
 # deprecation staging area
 ##==============================================================================
 
-#TODO look what should already be removed
-
-##==============================================================================
-## Remove in 0.6.0 or 0.6.1?
-##==============================================================================
-
-@deprecate getfnctype(args...) getFactorType(args...)
-
-@deprecate getEstimate(v::VariableDataLevel1, key::Symbol=:default) getVariablePPE(v, key)
-
-@deprecate estimate(v::VariableDataLevel1, key::Symbol=:default) getVariablePPE(v, key)
-
-@deprecate getEstimates(v::VariableDataLevel1) getPPEDict(v)
-
-@deprecate estimates(v::VariableDataLevel1) getPPEDict(v)
-
-@deprecate softtype(v::VariableDataLevel1) getSofttype(v)
-
-@deprecate label(v::DataLevel0) getLabel(v)
-
-@deprecate tags(v::DataLevel0) getTags(v)
-
-@deprecate getData(v::DFGVariable; solveKey::Symbol=:default) getSolverData(v, solveKey)
-
-@deprecate setSolverData(v::DFGVariable, data::VariableNodeData, key::Symbol=:default) setSolverData!(v, data, key)
-
-@deprecate data(f::DFGFactor) getSolverData(f)
-
-
-@deprecate getData(f::DFGFactor) getSolverData(f)
-
-
 ##==============================================================================
 ## Remove in 0.7
 ##==============================================================================
@@ -190,3 +158,7 @@ function buildSubgraphFromLabels(dfg::G,
 end
 
 @deprecate sortVarNested(vars::Vector{Symbol}) sortDFG(vars)
+
+
+#NOTE This one is still used in IIF so maybe leave a bit longer
+@deprecate getfnctype(args...) getFactorType(args...)
diff --git a/src/DistributedFactorGraphs.jl b/src/DistributedFactorGraphs.jl
@@ -30,7 +30,8 @@ using SparseArrays
 ##==============================================================================
 # Exports
 ##==============================================================================
-
+const DFG = DistributedFactorGraphs
+export DFG
 ##------------------------------------------------------------------------------
 ## DFG
 ##------------------------------------------------------------------------------
diff --git a/src/FileDFG/services/FileDFG.jl b/src/FileDFG/services/FileDFG.jl
@@ -3,6 +3,9 @@
     $(SIGNATURES)
 Save a DFG to a folder. Will create/overwrite folder if it exists.
 
+DevNotes:
+- TODO remove `compress` kwarg.
+
 # Example
 ```julia
 using DistributedFactorGraphs, IncrementalInference
@@ -14,7 +17,11 @@ v1 = addVariable!(dfg, :a, ContinuousScalar, labels = [:POSE], solvable=0)
 saveDFG(dfg, "/tmp/saveDFG.tar.gz")
 ```
 """
-function saveDFG(dfg::AbstractDFG, folder::String)
+function saveDFG(dfg::AbstractDFG, folder::String; compress::Symbol=:null)
+
+    if compress != :null
+      @warn "saveDFG keyword args are deprecated, and folders will be tarred as standard in current and future versions."
+    end
 
     # TODO: Deprecate the folder functionality in v0.6.1
 
@@ -140,11 +147,6 @@ function loadDFG(dst::String, iifModule, dfgLoadInto::G; loaddir=joinpath("/","t
         iifModule.rebuildFactorMetadata!(dfgLoadInto, factor)
     end
 
-    # PATCH - To update the fncargvID for factors, it's being cleared somewhere in rebuildFactorMetadata.
-    # TEMPORARY
-    # TODO: Remove in future
-    map(f->getSolverData(f).fncargvID = f._variableOrderSymbols, getFactors(dfgLoadInto))
-
     # remove the temporary unzipped file
     if unzip
       @info "DFG.loadDFG is deleting a temp folder created during unzip, $folder"
diff --git a/src/LightDFG/services/LightDFG.jl b/src/LightDFG/services/LightDFG.jl
@@ -255,6 +255,9 @@ function getNeighbors(dfg::LightDFG, label::Symbol; solvable::Int=0)::Vector{Sym
 end
 
 function _copyIntoGraph!(sourceDFG::LightDFG{<:AbstractParams, V, F}, destDFG::LightDFG{<:AbstractParams, V, F}, ns::Vector{Int}, includeOrphanFactors::Bool=false)::Nothing where {V <: AbstractDFGVariable, F <: AbstractDFGFactor}
+
+    includeOrphanFactors && (@error "Adding orphaned factors is not supported")
+    
     #kan ek die in bulk copy, soos graph en dan nuwe map maak
     # Add all variables first,
     labels = [sourceDFG.g.labels[i] for i in ns]
@@ -283,7 +286,7 @@ function _copyIntoGraph!(sourceDFG::LightDFG{<:AbstractParams, V, F}, destDFG::L
 
             # Only if we have all of them should we add it (otherwise strange things may happen on evaluation)
             if includeOrphanFactors || length(factVariables) == length(neigh_labels)
-                exists(destDFG, f.label) ? (@warn "_copyIntoGraph $(f.label) exists, ignoring pending error behaviour decision") : addFactor!(destDFG, factVariables, deepcopy(f))
+                exists(destDFG, f.label) ? (@warn "_copyIntoGraph $(f.label) exists, ignoring pending error behaviour decision") : addFactor!(destDFG, deepcopy(f))
             end
         end
     end
diff --git a/src/entities/DFGFactor.jl b/src/entities/DFGFactor.jl
@@ -27,12 +27,12 @@ mutable struct GenericFunctionNodeData{T, S}
     edgeIDs::Array{Int,1}
     frommodule::S #Union{Symbol, AbstractString}
     fnc::T
-    multihypo::String # likely to moved when GenericWrapParam is refactored
+    multihypo::Array{Float64} # likely to moved when GenericWrapParam is refactored
     certainhypo::Vector{Int}
     solveInProgress::Int
     GenericFunctionNodeData{T, S}() where {T, S} = new{T,S}()
-    GenericFunctionNodeData{T, S}(x1, x2, x3, x4, x5::S, x6::T, x7::String="", x8::Vector{Int}=Int[], x9::Int=0) where {T, S} = new{T,S}(x1, x2, x3, x4, x5, x6, x7, x8, x9)
-    GenericFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, x7::String="", x8::Vector{Int}=Int[], x9::Int=0) where {T, S} = new{T,S}(x1, x2, x3, x4, x5, x6, x7, x8, x9)
+    GenericFunctionNodeData{T, S}(x1, x2, x3, x4, x5::S, x6::T, multihypo::Vector{<:Real}=Float64[], certainhypo::Vector{Int}=Int[], x9::Int=0) where {T, S} = new{T,S}(x1, x2, x3, x4, x5, x6, multihypo, certainhypo, x9)
+    GenericFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, multihypo::Vector{<:Real}=Float64[], certainhypo::Vector{Int}=Int[], x9::Int=0) where {T, S} = new{T,S}(x1, x2, x3, x4, x5, x6, multihypo, certainhypo, x9)
     # GenericFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, x7::String) where {T, S} = new{T,S}(x1, x2, x3, x4, x5, x6, x7)
 end
 
@@ -43,9 +43,9 @@ end
 
 # Simply for convenience - don't export, TODO Its used in IIF so maybe it should be exported
 const PackedFunctionNodeData{T} = GenericFunctionNodeData{T, <: AbstractString}
-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)
+PackedFunctionNodeData(x1, x2, x3, x4, x5::S, x6::T, multihypo::Vector{Float64}=[], certainhypo::Vector{Int}=Int[], x9::Int=0) where {T <: PackedInferenceType, S <: AbstractString} = GenericFunctionNodeData(x1, x2, x3, x4, x5, x6, multihypo, certainhypo, x9)
 const FunctionNodeData{T} = GenericFunctionNodeData{T, Symbol}
-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)
+FunctionNodeData(x1, x2, x3, x4, x5::Symbol, x6::T, multihypo::Vector{Float64}=[], certainhypo::Vector{Int}=Int[], x9::Int=0) where {T <: Union{FunctorInferenceType, ConvolutionObject}}= GenericFunctionNodeData{T, Symbol}(x1, x2, x3, x4, x5, x6, multihypo, certainhypo, x9)
 
 ##==============================================================================
 ## Factors
diff --git a/src/needsahome.jl b/src/needsahome.jl
@@ -80,13 +80,13 @@ Dev Notes
 """
 function printVariable(fgl::AbstractDFG, vsym::Symbol, solveKey::Symbol=:default)
   vert = getVariable(fgl, vsym)
-  vnd = solverData(vert, solveKey)
+  vnd = getSolverData(vert, solveKey)
   println("label: $(vert.label)")
   println("tags: $(getTags(vert))")
   println("size marginal samples $(size(vnd.val))")
   println("kde bandwidths: $((vnd.bw)[:,1])")
-  if 0 < length(getVariablePPEs(vert))
-    println("PPE.suggested: $(round.(getVariablePPE(vert).suggested,digits=4))")
+  if 0 < length(getPPEDict(vert))
+    println("PPE.suggested: $(round.(getPPE(vert).suggested,digits=4))")
   else
     println("No PPEs")
   end
diff --git a/src/services/AbstractDFG.jl b/src/services/AbstractDFG.jl
@@ -855,6 +855,8 @@ NOTE: copyGraphMetadata not supported yet.
 """
 function _copyIntoGraph!(sourceDFG::G, destDFG::H, variableFactorLabels::Vector{Symbol}, includeOrphanFactors::Bool=false; copyGraphMetadata::Bool=false)::Nothing where {G <: AbstractDFG, H <: AbstractDFG}
     # Split into variables and factors
+    includeOrphanFactors && (@error "Adding orphaned factors is not supported")
+
     sourceVariables = map(vId->getVariable(sourceDFG, vId), intersect(listVariables(sourceDFG), variableFactorLabels))
     sourceFactors = map(fId->getFactor(sourceDFG, fId), intersect(listFactors(sourceDFG), variableFactorLabels))
     if length(sourceVariables) + length(sourceFactors) != length(variableFactorLabels)
@@ -883,7 +885,7 @@ function _copyIntoGraph!(sourceDFG::G, destDFG::H, variableFactorLabels::Vector{
         # Only if we have all of them should we add it (otherwise strange things may happen on evaluation)
         if includeOrphanFactors || length(factVariableIds) == length(sourceFactorVariableIds)
             if !exists(destDFG, factor)
-                addFactor!(destDFG, factVariableIds, deepcopy(factor))
+                addFactor!(destDFG, deepcopy(factor))
             end
         end
     end
diff --git a/src/services/CommonAccessors.jl b/src/services/CommonAccessors.jl
@@ -54,6 +54,23 @@ Get the timestamp of a DFGNode.
 getTimestamp(v::DataLevel1) = v.timestamp
 
 
+"""
+    $SIGNATURES
+
+Set the timestamp of a Variable/Factor object in a factor graph.
+Note:
+Since `timestamp` is not mutable `setTimestamp!` calls `updateVariable!` internally.
+See also [`setTimestamp`](@ref)
+"""
+function setTimestamp!(dfg::AbstractDFG, lbl::Symbol, ts::DateTime)
+    if isVariable(dfg, lbl)
+        return updateVariable!(dfg, setTimestamp(getVariable(dfg,lbl), ts))
+    else
+        return updateFactor!(dfg, setTimestamp(getFactor(dfg,lbl), ts))
+    end
+end
+
+
 
 ##------------------------------------------------------------------------------
 ## _internalId
diff --git a/src/services/CompareUtils.jl b/src/services/CompareUtils.jl
@@ -213,7 +213,6 @@ end
 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
diff --git a/src/services/DFGFactor.jl b/src/services/DFGFactor.jl
@@ -139,7 +139,7 @@ Return `::Bool` on whether given factor `fc::Symbol` is a prior in factor graph
 """
 function isPrior(dfg::G, fc::Symbol)::Bool where G <: AbstractDFG
   fco = getFactor(dfg, fc)
-  getfnctype(fco) isa FunctorSingleton
+  getFactorType(fco) isa FunctorSingleton
 end
 
 
diff --git a/src/services/DFGVariable.jl b/src/services/DFGVariable.jl
@@ -158,8 +158,9 @@ end
 
 Set the timestamp of a DFGVariable object returning a new DFGVariable.
 Note:
-Since `timestamp` is not mutable `setTimestamp` returns a new variable with the updated timestamp.
-Use `updateVariable!` to update it in the factor graph.
+Since the `timestamp` field is not mutable `setTimestamp` returns a new variable with the updated timestamp (note the absence of `!`).
+Use [`updateVariable!`](@ref) on the returened variable to update it in the factor graph if needed. Alternatively use [`setTimestamp!`](@ref).
+See issue #315.
 """
 function setTimestamp(v::DFGVariable, ts::DateTime)
     return DFGVariable(v.label, ts, v.tags, v.ppeDict, v.solverDataDict, v.smallData, v.bigData, v._dfgNodeParams)
@@ -169,8 +170,6 @@ function setTimestamp(v::DFGVariableSummary, ts::DateTime)
     return DFGVariableSummary(v.label, ts, v.tags, v.estimateDict, v.softtypename, v.bigData, v._internalId)
 end
 
-#TODO something like:
-# setTimestamp!(dfg::AbstractDFG, var::DFGVariable, ts::DateTime) = updateVariable!(dfg, setTimestamp(var, ts))
 
 ##------------------------------------------------------------------------------
 ## _dfgNodeParams [_internalId, solvable]
diff --git a/src/services/Serialization.jl b/src/services/Serialization.jl
@@ -153,10 +153,6 @@ function unpackFactor(dfg::G, packedProps::Dict{String, Any})::DFGFactor where G
     factor._variableOrderSymbols = _variableOrderSymbols
     setSolvable!(factor, solvable)
 
-    # GUARANTEED never to bite us in the ass in the future...
-    # ... TODO: refactor if changed: https://github.com/JuliaRobotics/IncrementalInference.jl/issues/350
-    factor.data.fncargvID = deepcopy(_variableOrderSymbols)
-
     # Note, once inserted, you still need to call IIF.rebuildFactorMetadata!
     return factor
 end
diff --git a/test/compareTests.jl b/test/compareTests.jl
@@ -47,10 +47,6 @@ gfnd2 = deepcopy(gfnd1)
 gfnd3 = GenericFunctionNodeData([:a,:b], true, true, [1,2], :symbol, cos)
 
 @test gfnd1 == gfnd2
-gfnd2.fncargvID = [:a, :b]
-@test gfnd1 == gfnd2
-gfnd2.fncargvID = [:b, :a]
-@test !(gfnd1 == gfnd2)
 @test !(gfnd1 == gfnd3)
 
 # DFGFactor
@@ -59,10 +55,6 @@ f2 = deepcopy(f1)
 f3 = DFGFactor(:f1, [:b, :a], gfnd1)
 
 @test f1 == f2
-f2.solverData = gfnd1
-@test f1 == f2
-f2.solverData = gfnd2
-@test !(f1 == f2)
 @test !(f1 == f3)
 
 
@@ -85,8 +77,4 @@ gfnd2 = deepcopy(gfnd1)
 gfnd3 = GenericFunctionNodeData([:a,:b], true, true, [1,2], :symbol, cos)
 
 @test compare(gfnd1, gfnd2)
-gfnd2.fncargvID = [:a, :b]
-@test compare(gfnd1, gfnd2)
-gfnd2.fncargvID = [:b, :a]
-@test !(compare(gfnd1, gfnd2))
 @test_broken !(compare(gfnd1, gfnd3))
diff --git a/test/iifInterfaceTests.jl b/test/iifInterfaceTests.jl
@@ -189,7 +189,7 @@ end
     @test getVariablePPEs(v1) == v1.ppeDict
     @test_throws Exception DistributedFactorGraphs.getVariablePPE(v1, :notfound)
     @test solverData(v1) === v1.solverDataDict[:default]
-    @test getData(v1) === v1.solverDataDict[:default]
+    @test getSolverData(v1) === v1.solverDataDict[:default]
     @test solverData(v1, :default) === v1.solverDataDict[:default]
     @test getSolverDataDict(v1) == v1.solverDataDict
     @test getInternalId(v1) == v1._internalId
@@ -434,23 +434,25 @@ end
     # Only returns x1 and x2
     @test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
     # Test include orphan factorsVoid
-    dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 1, true)
-    @test symdiff([:x1, :x1x2f1], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
-    # Test adding to the dfg
-    dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2, true, dfgSubgraph)
-    @test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
-    #
+    @test_broken begin
+        dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 1, true)
+        @test symdiff([:x1, :x1x2f1], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
+        # Test adding to the dfg
+        dfgSubgraph = getSubgraphAroundNode(dfg, verts[1], 2, true, dfgSubgraph)
+        @test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
+    end
     dfgSubgraph = getSubgraph(dfg,[:x1, :x2, :x1x2f1])
     # Only returns x1 and x2
     @test symdiff([:x1, :x1x2f1, :x2], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
 
-    # DFG issue #201 Test include orphan factors with filtering - should only return x7 with solvable=1
-    dfgSubgraph = getSubgraphAroundNode(dfg, getFactor(dfg, :x7x8f1), 1, true, solvable=0)
-    @test symdiff([:x7, :x8, :x7x8f1], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
-    # Filter - always returns the node you start at but filters around that.
-    dfgSubgraph = getSubgraphAroundNode(dfg, getFactor(dfg, :x7x8f1), 1, true, solvable=1)
-    @test symdiff([:x7x8f1, :x7], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
-
+    @test_broken begin
+        # DFG issue #201 Test include orphan factors with filtering - should only return x7 with solvable=1
+        dfgSubgraph = getSubgraphAroundNode(dfg, getFactor(dfg, :x7x8f1), 1, true, solvable=0)
+        @test symdiff([:x7, :x8, :x7x8f1], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
+        # Filter - always returns the node you start at but filters around that.
+        dfgSubgraph = getSubgraphAroundNode(dfg, getFactor(dfg, :x7x8f1), 1, true, solvable=1)
+        @test symdiff([:x7x8f1, :x7], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
+    end
     # DFG issue #95 - confirming that getSubgraphAroundNode retains order
     # REF: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/95
     for fId in listVariables(dfg)
diff --git a/test/interfaceTests.jl b/test/interfaceTests.jl
diff --git a/test/runtests.jl b/test/runtests.jl
diff --git a/test/testBlocks.jl b/test/testBlocks.jl

Original file line number	Diff line number	Diff line change
`@@ -1 +1,3 @@`
`1`	`1`	`# Common API Interface`
	`2`	`+`
	`3`	`+![imgs/CoreAPI.png](imgs/CoreAPI.png)`