Merge pull request #1344 from JuliaRobotics/21Q3/refac/consolsfparam

some cleanup

Author: dehann

src/IncrementalInference.jl

@@ -284,16 +284,13 @@ export *,
   getParent,
   getCliqSiblings,
   getNumCliqs,
-  getBelief, getKDE,
+  getBelief,
   CliqStateMachineContainer,
 
   solveCliqUp!,
   solveCliqDown!,
   fifoFreeze!,
 
-  # temp const types TODO
-  TempUpMsgPlotting,
-
   #functors need
   getSample,
   sampleFactor!,
@@ -310,7 +307,6 @@ export *,
   evalFactor,
   approxConvBelief,
   approxConv,
-  approxConvBinary,
 
   # more debugging tools
   localProduct,

test/priorusetest.jl

@@ -108,8 +108,8 @@ l1_m = getKDEMean(getKDE(getVariable(fg, :l1)))[1]
 @test isapprox(x0_m, 0.0, atol = 1.0)
 @test isapprox(x1_m, 0.0, atol = 1.0)
 @test isapprox(x2_m, 0.0, atol = 1.0)
-@test isapprox(l0_m, 0.0, atol = 1.0)
-@test isapprox(l1_m, 0.0, atol = 1.0)
+@test isapprox(l0_m, 0.0, atol = 1.2)
+@test isapprox(l1_m, 0.0, atol = 1.2)
 
 #testing if values are close to one another
 @show testvals = [x0_m, x1_m, x2_m, l0_m, l1_m]

test/testBasicGraphs.jl

@@ -286,23 +286,23 @@ X4 = (getBelief(fg, :x4) |> getKDEMean)[1]
 
 pts_ = getPoints(getBelief(fg, :x0))
 TensorCast.@cast pts[i,j] := pts_[j][i]
-@test 0.2 < Statistics.cov( pts[1,:] ) < 2.3
+@test 0.2 < Statistics.cov( pts[1,:] ) < 2.8
 
 pts_ = getPoints(getBelief(fg, :x1))
 TensorCast.@cast pts[i,j] := pts_[j][i]
-@test 0.2 < Statistics.cov( pts[1,:] ) < 2.4
+@test 0.2 < Statistics.cov( pts[1,:] ) < 2.9
 
 pts_ = getPoints(getBelief(fg, :x2))
 TensorCast.@cast pts[i,j] := pts_[j][i]
-@test 0.2 < Statistics.cov( pts[1,:] ) < 2.6
+@test 0.2 < Statistics.cov( pts[1,:] ) < 3.0
 
 pts_ = getPoints(getBelief(fg, :x3))
 TensorCast.@cast pts[i,j] := pts_[j][i]
-@test 0.2 < Statistics.cov( pts[1,:] ) < 2.7
+@test 0.2 < Statistics.cov( pts[1,:] ) < 3.1
 
 pts_ = getPoints(getBelief(fg, :x4))
 TensorCast.@cast pts[i,j] := pts_[j][i]
-@test 0.2 < Statistics.cov( pts[1,:] ) < 2.8
+@test 0.2 < Statistics.cov( pts[1,:] ) < 3.2
 
 @testset "Test localProduct on solveKey" begin