Merge pull request #1352 from JuliaRobotics/21Q3/refac/mvapproxconvcirc

comments for future work

Author: dehann

src/SolverUtilities.jl

@@ -135,6 +135,9 @@ Notes
 - Often used to quickly generate temporary graphs for a variety of local calculations.
 - does not yet support split `_` characters in auto-find `lastVar` from `varPattern`. 
 - Will always add a factor, but will skip adding variable labels that already exist in `dfg`.
+
+DevNotes
+- TODO allow pts to be full MKD beliefs, part of replacing old `approxConvCircular`, see #1351
 """
 function _buildGraphByFactorAndTypes!(fct::AbstractFactor, 
                                       varTypes::Tuple,
@@ -158,6 +161,7 @@ function _buildGraphByFactorAndTypes!(fct::AbstractFactor,
     # add the necessary variables
     exists(dfg, vars[s_]) ? nothing : addVariable!(dfg, vars[s_],  vTyp)
     # set the numerical values if available
+    # TODO allow pts to come in as full MKD beliefs, not just one point
     ((0 < length(pts)) && (pts[s_] isa Nothing)) ? nothing : initManual!(dfg,  vars[s_], [pts[s_],], solveKey, bw=ones(getDimension(vTyp)))
   end
   # if newFactor then add the factor on vars, else assume only one existing factor between vars

src/services/ApproxConv.jl

@@ -239,7 +239,16 @@ end
 # group partial dimension factors by selected dimensions -- i.e. [(1,)], [(1,2),(1,2)], [(2,);(2;)]
 
 
-
+# WIP, see `_buildGraphByFactorAndTypes!` where pts are full MKD Beliefs, following #1351 
+# Legacy use in RoMEPlotting: plotFactor
+# function approxConvBelief(fct::AbstractFactorRelative,
+#                           varTypes::Union{<:Tuple,<:AbstractVector{<:InstanceType{T}}}, 
+#                           mkds::Union{<:Tuple,<:AbstractVector{<:InstanceType{T}}};
+#                           tfg::AbstractDFG=_buildGraphByFactorAndTypes!(fct,)
+#                           ) where {T <: InferenceVariable}
+#   #
+
+# end