swap arg order for _evalFactorTemporary!

Author: dehann

src/ApproxConv.jl

@@ -597,7 +597,7 @@ Notes
 
 Example
 ```julia
-B = _evalFactorTemporary!(EuclidDistance, ([10;],), 2, [(ContinuousScalar,[0]); (ContinuousScalar,[9.5;])] )
+B = _evalFactorTemporary!(EuclidDistance, (ContinuousScalar, ContinuousScalar), 2, ([10;],), ([0.],[9.5]) )
 # should return `B = 10`
 ```
 
@@ -606,9 +606,9 @@ Related
 [`evalFactor`](@ref), [`calcFactorResidual`](@ref), [`testFactorResidualBinary`](@ref)
 """
 function _evalFactorTemporary!( fct::AbstractFactor,
+                                varTypes::Tuple,
                                 sfidx::Int,  # solve for index, assuming variable order for fct
                                 meas_single::Tuple,
-                                varTypes::Tuple,
                                 pts::Tuple;
                                 tfg::AbstractDFG=initfg(),
                                 solveKey::Symbol=:default,

src/services/FactorGradients.jl

@@ -29,7 +29,7 @@ function _prepFactorGradientLambdas(fct::Union{<:AbstractRelativeMinimize,<:Abst
   T_pth_s_i =     (s,i) -> AMP.makePointFromCoords(M[s], coord_h(s,i), pts[s])         # exp(M,..., hat(M,...) )
   tup_pt_s_i_h =  (s,i) -> tuple(pts[1:(s-1)]..., T_pth_s_i(s,i), pts[(s+1):end]...)
   # build a residual calculation specifically considering graph factor selections `s`, e.g. for binary `s ∈ {1,2}`.
-  f_dsi_h =       (d,s,i) -> IIF._evalFactorTemporary!(fct, d, measurement, varTypes, tup_pt_s_i_h(s,i); tfg=tfg, newFactor=false, currNumber=0, _slack=slack_resid )
+  f_dsi_h =       (d,s,i) -> IIF._evalFactorTemporary!(fct, varTypes, d, measurement, tup_pt_s_i_h(s,i); tfg=tfg, newFactor=false, currNumber=0, _slack=slack_resid )
   # standard calculus derivative definition (in coordinate space)
   Δf_dsi =        (d,s,i, crd=coord_(d)) -> (f_dsi_h(d,s,i)[1] - crd)./h
   # jacobian block per s, for each i

test/testGradientUtils.jl

@@ -20,7 +20,7 @@ dfg, _dfgfct = IIF._buildGraphByFactorAndTypes!(fct, varTypes, varPts)
 
 ## test  the evaluation of factor without
 
-B = IIF._evalFactorTemporary!(EuclidDistance(Normal(10,1)), 2, ([10;],), varTypes, varPts );
+B = IIF._evalFactorTemporary!(EuclidDistance(Normal(10,1)), varTypes, 2, ([10;],), varPts );
 
 @test_broken B isa Vector{Vector{Float64}}
 @test isapprox( B[1], [10.0;], atol=1e-6)
@@ -43,21 +43,21 @@ slack_resid = calcFactorResidualTemporary(fct, varTypes, measurement, pts)
 
 ##
 
-coord_1 = IIF._evalFactorTemporary!(fct, 1, measurement, varTypes, pts, _slack=slack_resid )
+coord_1 = IIF._evalFactorTemporary!(fct, varTypes, 1, measurement, pts, _slack=slack_resid )
 @test length(coord_1) == 1
 @test isapprox( coord_1[1], [0.0], atol=1e-6)
 
-coord_2 = IIF._evalFactorTemporary!(fct, 2, measurement, varTypes, pts, _slack=slack_resid )
+coord_2 = IIF._evalFactorTemporary!(fct, varTypes, 2, measurement, pts, _slack=slack_resid )
 @test length(coord_2) == 1
 @test isapprox( coord_2[1], [9.5], atol=1e-6)
 
 ##
 
-coord_1 = IIF._evalFactorTemporary!(fct, 1, measurement, varTypes, pts )
+coord_1 = IIF._evalFactorTemporary!(fct, varTypes, 1, measurement, pts )
 @test length(coord_1) == 1
 @test isapprox( coord_1[1], [-0.5], atol=1e-6)
 
-coord_2 = IIF._evalFactorTemporary!(fct, 2, measurement, varTypes, pts )
+coord_2 = IIF._evalFactorTemporary!(fct, varTypes, 2, measurement, pts )
 @test length(coord_2) == 1
 @test isapprox( coord_2[1], [10.0], atol=1e-6)
 
@@ -100,7 +100,7 @@ slack_resid = calcFactorResidualTemporary(fct, varTypes, measurement, pts, tfg=_
 ## Manually provide a common temp graph and force no factor and same variables via keywords
 
 tfg,_ = IIF._buildGraphByFactorAndTypes!(fct, varTypes, pts);
-coord_1 = IIF._evalFactorTemporary!(fct, 1, measurement, varTypes, pts, _slack=slack_resid, tfg=tfg, newFactor=false, currNumber=0 )
+coord_1 = IIF._evalFactorTemporary!(fct, varTypes, 1, measurement, pts, _slack=slack_resid, tfg=tfg, newFactor=false, currNumber=0 )
 
 ##
 
@@ -109,23 +109,23 @@ coord_1 = IIF._evalFactorTemporary!(fct, 1, measurement, varTypes, pts, _slack=s
 
 @test isapprox( coord_1[1], [0;0.0], atol=1e-6)
 
-coord_2 = IIF._evalFactorTemporary!(fct, 2, measurement, varTypes, pts, _slack=slack_resid )
+coord_2 = IIF._evalFactorTemporary!(fct, varTypes, 2, measurement, pts, _slack=slack_resid )
 @test length(coord_2) == 1
 @test length(coord_2[1]) == 2
 
 @test isapprox( coord_2[1], [9.5; 0], atol=1e-6)
 
 ## Repeat the same test but allow _evalFactorTemporary to self construct internal temporary graph
 
-coord_1 = IIF._evalFactorTemporary!(fct, 1, measurement, varTypes, pts )
+coord_1 = IIF._evalFactorTemporary!(fct, varTypes, 1, measurement, pts )
 
 ##
 @test length(coord_1) == 1
 @test length(coord_1[1]) == 2
 
 @test isapprox( coord_1[1], [-0.5;0], atol=1e-6)
 
-coord_2 = IIF._evalFactorTemporary!(fct, 2, measurement, varTypes, pts )
+coord_2 = IIF._evalFactorTemporary!(fct, varTypes, 2, measurement, pts )
 @test length(coord_2) == 1
 @test length(coord_2[1]) == 2