Merge pull request #1673 from JuliaRobotics/23Q1/api/dfg19solve

DFG 19, upstream solveGraph! dispatch

Author: dehann

Project.toml

@@ -50,7 +50,7 @@ ApproxManifoldProducts = "0.6.3"
 BSON = "0.2, 0.3"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
-DistributedFactorGraphs = "0.18.10"
+DistributedFactorGraphs = "0.18.10,0.19"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"

src/IncrementalInference.jl

@@ -82,6 +82,7 @@ import DistributedFactorGraphs: getPoint, getCoordinates
 import DistributedFactorGraphs: getVariableType
 import DistributedFactorGraphs: AbstractPointParametricEst, loadDFG
 import DistributedFactorGraphs: getFactorType
+import DistributedFactorGraphs: solveGraph!, solveGraphParametric!
 
 # will be deprecated in IIF
 import DistributedFactorGraphs: isSolvable

src/ParametricUtils.jl

@@ -816,7 +816,7 @@ end
     $SIGNATURES
 Add parametric solver to fg, batch solve using [`solveGraphParametric`](@ref) and update fg.
 """
-function solveGraphParametric!(
+function DFG.solveGraphParametric!(
   fg::AbstractDFG; 
   init::Bool = true, 
   solveKey::Symbol = :parametric, # FIXME, moot since only :parametric used for parametric solves

src/SolverAPI.jl

@@ -497,7 +497,7 @@ end
 
 Just an alias, see documentation for `solveTree!`.
 """
-const solveGraph! = solveTree!
+DFG.solveGraph!(dfg::AbstractDFG, w...;kw...) = solveTree!(dfg, w...;kw...)
 
 """
     $SIGNATURES