Merge pull request #1701 from JuliaRobotics/23Q2/maint/dfg21

VND constructor for dfg21

Author: Affie

Project.toml

@@ -52,7 +52,7 @@ ApproxManifoldProducts = "0.6.3"
 BSON = "0.2, 0.3"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
-DistributedFactorGraphs = "0.20"
+DistributedFactorGraphs = "0.21"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"

src/services/FactorGraph.jl

@@ -388,7 +388,7 @@ function DefaultNodeDataParametric(
   else
     # dimIDs = round.(Int, range(dodims; stop = dodims + dims - 1, length = dims))
     ϵ = getPointIdentity(variableType)
-    return VariableNodeData(;
+    return VariableNodeData(variableType;
       id=nothing,
       val=[ϵ],
       bw=zeros(dims, dims),
@@ -398,7 +398,6 @@ function DefaultNodeDataParametric(
       # false,
       # :_null,
       # Symbol[],
-      variableType,
       initialized=false,
       infoPerCoord=zeros(dims),
       ismargin=false,
@@ -474,7 +473,7 @@ function setDefaultNodeData!(
   # make and set the new solverData
   setSolverData!(
     v,
-    VariableNodeData(;
+    VariableNodeData(varType;
       id=nothing,
       val,
       bw,
@@ -484,7 +483,6 @@ function setDefaultNodeData!(
       # false,
       # :_null,
       # Symbol[],
-      variableType=varType,
       initialized=isinit,
       infoPerCoord=zeros(getDimension(v)),
       ismargin=false,