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common CalcFactor file
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6 files changed

+113
-97
lines changed

‎src/Deprecated.jl

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@@ -124,6 +124,17 @@ end
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## Deprecate code below before v0.35
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##==============================================================================
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# should probably deprecate the abstract type approach?
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abstract type _AbstractThreadModel end
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"""
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$(TYPEDEF)
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"""
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struct SingleThreaded <: _AbstractThreadModel end
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# """
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# $(TYPEDEF)
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# """
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# struct MultiThreaded <: _AbstractThreadModel end
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function _solveLambdaNumeric(

‎src/IncrementalInference.jl

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@@ -126,6 +126,7 @@ include("ExportAPI.jl")
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include("entities/SolverParams.jl")
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include("entities/HypoRecipe.jl")
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include("entities/CalcFactor.jl")
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include("entities/FactorOperationalMemory.jl")
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include("Factors/GenericMarginal.jl")

‎src/entities/CalcFactor.jl

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abstract type AbstractMaxMixtureSolver end
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"""
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$TYPEDEF
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User factor interface method for computing the residual values of factors.
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Notes
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- Also see #467 on API consolidation
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```julia
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function (cf::CalcFactor{<:LinearRelative})(res::AbstractVector{<:Real}, z, xi, xj)
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cf.variablelist
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cf.cache
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# generic on-manifold residual function
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return distance(z, distance(xj, xi))
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end
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```
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DevNotes
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- Follow the Github project in IIF to better consolidate CCW FMD CPT CF CFM
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Related
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[`CalcFactorMahalanobis`](@ref), [`CommonConvWrapper`](@ref)
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"""
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struct CalcFactor{
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FT <: AbstractFactor,
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X,
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C,
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VT <: Tuple,
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M <: AbstractManifold
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}
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""" the interface compliant user object functor containing the data and logic """
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factor::FT
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""" what is the sample (particle) id for which the residual is being calculated """
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_sampleIdx::Int
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""" legacy support for variable values old functor residual functions.
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TBD, this is still being used by DERelative factors. """
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_legacyParams::X
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""" allow threading for either sampling or residual calculations (workaround for thread yield issue) """
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_allowThreads::Bool
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""" user cache of arbitrary type, overload the [`preambleCache`](@ref) function. NOT YET THREADSAFE """
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cache::C
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## TODO Consolidation WIP with FactorMetadata
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# full list of variables connected to the factor
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# TODO make sure this list is of the active hypo only
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fullvariables::VT # Vector{<:DFGVariable} # FIXME change to tuple for better type stability
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# which index is being solved for?
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solvefor::Int
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manifold::M
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end
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"""
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$TYPEDEF
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Internal parametric extension to [`CalcFactor`](@ref) used for buffering measurement and calculating Mahalanobis distance
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Related
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[`CalcFactor`](@ref)
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"""
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struct CalcFactorMahalanobis{N, D, L, S <: Union{Nothing, AbstractMaxMixtureSolver}}
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faclbl::Symbol
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calcfactor!::CalcFactor
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varOrder::Vector{Symbol}
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meas::NTuple{N, <:AbstractArray}
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iΣ::NTuple{N, SMatrix{D, D, Float64, L}}
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specialAlg::S
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end
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struct CalcFactorManopt{
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D,
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L,
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FT <: AbstractFactor,
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M <: AbstractManifold,
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MEAS <: AbstractArray,
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}
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faclbl::Symbol
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calcfactor!::CalcFactor{FT, Nothing, Nothing, Tuple{}, M}
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varOrder::Vector{Symbol}
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varOrderIdxs::Vector{Int}
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meas::MEAS
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iΣ::SMatrix{D, D, Float64, L}
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sqrt_iΣ::SMatrix{D, D, Float64, L}
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end
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‎src/entities/FactorOperationalMemory.jl

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@@ -1,68 +1,4 @@
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"""
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$TYPEDEF
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User factor interface method for computing the residual values of factors.
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Notes
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- Also see #467 on API consolidation
9-
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```julia
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function (cf::CalcFactor{<:LinearRelative})(res::AbstractVector{<:Real}, z, xi, xj)
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cf.variablelist
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cf.cache
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# generic on-manifold residual function
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return distance(z, distance(xj, xi))
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end
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```
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DevNotes
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- Follow the Github project in IIF to better consolidate CCW FMD CPT CF CFM
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Related
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[`CalcFactorMahalanobis`](@ref), [`CommonConvWrapper`](@ref)
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"""
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struct CalcFactor{
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FT <: AbstractFactor,
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X,
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C,
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VT <: Tuple,
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M <: AbstractManifold
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}
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""" the interface compliant user object functor containing the data and logic """
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factor::FT
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""" what is the sample (particle) id for which the residual is being calculated """
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_sampleIdx::Int
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""" legacy support for variable values old functor residual functions.
38-
TBD, this is still being used by DERelative factors. """
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_legacyParams::X
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""" allow threading for either sampling or residual calculations (workaround for thread yield issue) """
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_allowThreads::Bool
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""" user cache of arbitrary type, overload the [`preambleCache`](@ref) function. NOT YET THREADSAFE """
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cache::C
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## TODO Consolidation WIP with FactorMetadata
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# full list of variables connected to the factor
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# TODO make sure this list is of the active hypo only
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fullvariables::VT # Vector{<:DFGVariable} # FIXME change to tuple for better type stability
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# which index is being solved for?
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solvefor::Int
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manifold::M
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end
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# should probably deprecate the abstract type approach?
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abstract type _AbstractThreadModel end
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"""
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$(TYPEDEF)
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"""
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struct SingleThreaded <: _AbstractThreadModel end
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"""
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$(TYPEDEF)
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"""
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struct MultiThreaded <: _AbstractThreadModel end
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"""

‎src/parametric/services/ParametricManoptDev.jl

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##
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struct CalcFactorManopt{
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D,
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L,
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FT <: AbstractFactor,
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M <: AbstractManifold,
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MEAS <: AbstractArray,
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}
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faclbl::Symbol
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calcfactor!::CalcFactor{FT, Nothing, Nothing, Tuple{}, M}
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varOrder::Vector{Symbol}
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varOrderIdxs::Vector{Int}
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meas::MEAS
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iΣ::SMatrix{D, D, Float64, L}
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sqrt_iΣ::SMatrix{D, D, Float64, L}
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end
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function CalcFactorManopt(fct::DFGFactor, varIntLabel)
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fac_func = getFactorType(fct)

‎src/parametric/services/ParametricUtils.jl

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## FactorOperationalMemory for parametric, TODO move back to FactorOperationalMemory.jl
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## ================================================================================================
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abstract type AbstractMaxMixtureSolver end
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"""
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$TYPEDEF
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Internal parametric extension to [`CalcFactor`](@ref) used for buffering measurement and calculating Mahalanobis distance
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Related
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[`CalcFactor`](@ref)
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"""
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struct CalcFactorMahalanobis{N, D, L, S <: Union{Nothing, AbstractMaxMixtureSolver}}
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faclbl::Symbol
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calcfactor!::CalcFactor
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varOrder::Vector{Symbol}
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meas::NTuple{N, <:AbstractArray}
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iΣ::NTuple{N, SMatrix{D, D, Float64, L}}
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specialAlg::S
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end
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# struct CalcFactorMahalanobis{CF<:CalcFactor, S<:Union{Nothing,AbstractMaxMixtureSolver}, N}
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# calcfactor!::CF
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# varOrder::Vector{Symbol}
@@ -437,6 +419,10 @@ function (gsc::GraphSolveContainer)(Xc::Vector{T}) where {T <: Real}
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return obj / 2
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end
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# FIXME, deprecate and improve legacy use of `MultiThreaded` type
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struct MultiThreaded end
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function (gsc::GraphSolveContainer)(Xc::Vector{T}, ::MultiThreaded) where {T <: Real}
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#
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buffs = getGraphSolveCache!(gsc, T)

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