Merge pull request #1686 from JuliaRobotics/23Q1/enh/dfg20

update IIF for DFG v0.20

Author: dehann

Project.toml

@@ -40,6 +40,7 @@ SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
+StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
 SuiteSparse = "4607b0f0-06f3-5cda-b6b1-a6196a1729e9"
 TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
@@ -50,7 +51,7 @@ ApproxManifoldProducts = "0.6.3"
 BSON = "0.2, 0.3"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
-DistributedFactorGraphs = "0.19.3"
+DistributedFactorGraphs = "0.19.3, 0.20"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"
@@ -72,6 +73,7 @@ Requires = "1"
 SnoopPrecompile = "1"
 StaticArrays = "1"
 StatsBase = "0.32, 0.33"
+StructTypes = "1"
 TensorCast = "0.3.3, 0.4"
 TimeZones = "1.3.1"
 julia = "1.8"

src/ExportAPI.jl

@@ -12,13 +12,13 @@ export AbstractDFG,
   setSolvedCount!,
   listSupersolves,
   listSolveKeys,
-  deepcopySolvekeys!,
-  deepcopySupersolve!,
+  cloneSolveKey!,
   diagm,
-  listDataEntries,
+  listBlobEntries,
   FolderStore,
   addBlobStore!,
   addData!,
+  addBlob!,
   getData,
   DFGVariable,
   DFGVariableSummary,

src/Factors/PartialPriorPassThrough.jl

@@ -32,6 +32,11 @@ Base.@kwdef mutable struct PackedPartialPriorPassThrough <: AbstractPackedFactor
   partial::Vector{Int}
 end
 
+# StructTypes.StructType(::Type{PackedPartialPriorPassThrough}) = StructTypes.UnorderedStruct()
+# StructTypes.idproperty(::Type{PackedPartialPriorPassThrough}) = :id
+# StructTypes.omitempties(::Type{PackedPartialPriorPassThrough}) = (:id,)
+
+
 function convert(
   ::Union{Type{<:AbstractPackedFactor}, Type{<:PackedPartialPriorPassThrough}},
   obj::PartialPriorPassThrough,
@@ -52,4 +57,4 @@ function convert(
   return PartialPriorPassThrough(dens, tuple(obj.partial...))
 end
 
-#
+#

src/IncrementalInference.jl

@@ -46,6 +46,8 @@ using Dates,
   UUIDs,
   TensorCast
 
+using StructTypes
+
 using StaticArrays
 
 using ManifoldsBase

src/SolverAPI.jl

@@ -393,7 +393,7 @@ function solveTree!(
     allk = parse.(Int, ss_)
     nextk = length(allk) == 0 ? 0 : maximum(allk) + 1
     newKey = Symbol(:default_, nextk)
-    deepcopySupersolve!(dfgl, newKey, :default; solvable = 1)
+    cloneSolveKey!(dfgl, newKey, :default; solvable = 1)
     # foreach(x->updateVariableSolverData!(dfgl, x, getSolverData(getVariable(dfgl,x), :default), newKey, true, Symbol[]), ls(dfgl, solvable=1))
     @info "storeOld=true, previous :default deepcopied into $newKey for solvable==1 variables."
   end

src/entities/BeliefTypes.jl

@@ -18,6 +18,8 @@ struct ParametricMessage <: MessageType end
 
 abstract type PackedSamplableBelief end
 
+StructTypes.StructType(::Type{<:PackedSamplableBelief}) = StructTypes.UnorderedStruct()
+
 const SamplableBelief = Union{
   Distributions.Distribution,
   KDE.BallTreeDensity,

test/testFluxModelsDistribution.jl

@@ -50,7 +50,8 @@ addFactor!(fg, [:x0;], pr)
 ##
 
 smpls = sampleFactor(fg, :x0f1, 10)
-@test smpls isa Vector{Vector{Float64}}
+@test eltype(smpls) <: Vector{<:Real}
+@test smpls isa Vector #{Vector{Float64}}
 @test length( smpls ) == 10
 
 ##

test/testSpecialEuclidean2Mani.jl

@@ -276,7 +276,7 @@ DFG.getManifold(::ManiPose2Point2) = TranslationGroup(2)
 
 # define the conditional probability constraint
 function (cfo::CalcFactor{<:ManiPose2Point2})(measX, p, q)
-  #
+    #
     M = SpecialEuclidean(2)
     q_SE = ArrayPartition(q, identity_element(SpecialOrthogonal(2), p.x[2]))