change to propagateBelief

Author: dehann

src/FactorGraph.jl

@@ -829,8 +829,8 @@ function doautoinit!( dfg::AbstractDFG,
           @info "do init of $vsym"
         end
         # FIXME ensure a product of only partial densities and returned pts are put to proper dimensions
-        bel,inferdim = proposalBelief(dfg, vsym, useinitfct, solveKey=solveKey, logger=logger)
-        setValKDE!(xi, pts, true, inferdim, solveKey=solveKey)
+        bel,inferdim = propagateBelief(dfg, getVariable(dfg,vsym), getFactor.(dfg,useinitfct), solveKey=solveKey, logger=logger)
+        setValKDE!(xi, getPoints(bel, false), true, inferdim, solveKey=solveKey)
         # Update the estimates (longer DFG function used so cloud is also updated)
         setVariablePosteriorEstimates!(dfg, xi.label, solveKey)
         # Update the data in the event that it's not local

src/GraphProductOperations.jl

@@ -50,7 +50,7 @@ end
 """
     $SIGNATURES
 
-This is an old function that will be replace by [`propagateBelief`](@ref).
+This is an old function name that will be replaced by [`propagateBelief`](@ref).
 """
 function predictbelief( dfg::AbstractDFG,
                         destvert::DFGVariable,

test/testPartialNH.jl

@@ -35,7 +35,8 @@ oldBel = getBelief(fg, destlbl)
 oldpts = getPoints(oldBel)
 
 varType = getVariableType(fg, destlbl)
-pGM = AMP.productbelief(oldpts, getManifold(varType), dens, 100, asPartial=false )
+pGM = getPoints( AMP.manifoldProduct(dens, getManifold(varType), N=100, oldPoints=oldpts), false )
+# pGM = AMP.productbelief(oldpts, getManifold(varType), dens, 100, asPartial=false )
 
 
 ##