Merge pull request #1742 from JuliaRobotics/23Q3/enh/comphyporepcomp

comp HypoRecipeCompute

Author: dehann

src/IncrementalInference.jl

@@ -135,6 +135,8 @@ include("entities/AliasScalarSampling.jl")
 include("entities/OptionalDensities.jl")
 include("entities/BeliefTypes.jl")
 
+include("services/HypoRecipe.jl")
+
 #
 include("manifolds/services/ManifoldsExtentions.jl")
 include("manifolds/services/ManifoldSampling.jl")

src/entities/HypoRecipe.jl

@@ -20,31 +20,3 @@ Base.@kwdef struct HypoRecipeCompute{
   activehypo::Vector{Int} = Int[]
 end
 
-
-function Base.isapprox(
-  a::HypoRecipe, 
-  b::HypoRecipe
-)
-  if !(isnothing(a.hypotheses) && isnothing(b.hypotheses))
-    return isapprox(a.hypotheses.p, b.hypotheses.p)
-  end
-  if !(isnothing(a.certainhypo) && isnothing(b.certainhypo))
-    return isapprox(a.certainhypo, b.certainhypo)
-  end
-  
-  if 0 < length(a.activehypo)
-    if length(a.activehypo) == length(b.activehypo)
-      return isapprox(a.activehypo, b.activehypo)
-    else
-      return false
-    end
-  end
-
-  return true
-end
-
-
-Base.:(==)(
-  a::HypoRecipe, 
-  b::HypoRecipe
-) = isapprox(a,b)

src/services/HypoRecipe.jl

@@ -0,0 +1,69 @@
+
+function Base.isapprox(
+  a::HypoRecipe,
+  b::HypoRecipe;
+  iakws...
+)
+  if !(
+    isapprox(a.certainidx, b.certainidx; iakws...) &&
+    isapprox(a.mhidx, b.mhidx; iakws...)
+  )
+    @debug "HypoRecipe a vs b not the same on either .certainidx or .mhidx"
+    return false
+  end
+  if length(a.allelements) != length(b.allelements)
+    @debug "HypoRecipe different lengths on a vs b .allelements"
+    return false
+  end
+  for (i,el) in enumerate(a.allelements)
+    if !isapprox(el, b.allelements[i]; iakws...)
+      @debug "HypoRecipe a vs b different on .allelements"
+      return false
+    end
+  end
+  if length(a.allelements) != length(b.allelements)
+    @debug "HypoRecipe different lengths on a vs b .activehypo"
+    return false
+  end
+  for (i,el) in enumerate(a.activehypo)
+    if el[1] != b.activehypo[i][1] || !isapprox(el[2], b.activehypo[i][2]; iakws...)
+      @debug "HypoRecipe a vs b different on .activehypo"
+      return false
+    end
+  end
+  return true
+end
+
+Base.:(==)(
+  a::HypoRecipe, 
+  b::HypoRecipe
+) = isapprox(a,b)
+
+function Base.isapprox(
+  a::HypoRecipeCompute, 
+  b::HypoRecipeCompute;
+  iakws...
+)
+  if !(isnothing(a.hypotheses) && isnothing(b.hypotheses))
+    return isapprox(a.hypotheses.p, b.hypotheses.p; iakws...)
+  end
+  if !(isnothing(a.certainhypo) && isnothing(b.certainhypo))
+    return isapprox(a.certainhypo, b.certainhypo; iakws...)
+  end
+  
+  if 0 < length(a.activehypo)
+    if length(a.activehypo) == length(b.activehypo)
+      return isapprox(a.activehypo, b.activehypo; iakws...)
+    else
+      return false
+    end
+  end
+
+  return true
+end
+
+
+Base.:(==)(
+  a::HypoRecipeCompute, 
+  b::HypoRecipeCompute
+) = isapprox(a,b)