Merge pull request #1678 from JuliaRobotics/23Q1/api/dfg19solve

Merging my fix branch into your v0.19 feature branch

Author: dehann

src/services/FGOSUtils.jl

@@ -235,8 +235,7 @@ function calcPPE(
   varType::InferenceVariable = getVariableType(var);
   ppeType::Type{<:MeanMaxPPE} = MeanMaxPPE,
   solveKey::Symbol = :default,
-  ppeKey::Symbol = solveKey,
-  timestamp = now(),
+  ppeKey::Symbol = solveKey
 )
   #
   P = getBelief(var, solveKey)
@@ -268,7 +267,6 @@ function calcPPE(
     suggested=Pme_, 
     max=Pma, 
     mean=Pme_, 
-    createdTimestamp=ZonedDateTime(timestamp, localzone())
   )
 end
 

src/services/FactorGraph.jl

@@ -613,9 +613,7 @@ function addVariable!(
   (:parametric in initsolvekeys) &&
     setDefaultNodeDataParametric!(v, varType; initialized = false, dontmargin = dontmargin)
 
-  DFG.addVariable!(dfg, v)
-
-  return v
+  return DFG.addVariable!(dfg, v)
 end
 
 function parseusermultihypo(multihypo::Nothing, nullhypo::Float64)
@@ -849,12 +847,12 @@ function DFG.addFactor!(
   )
   #
 
-  success = addFactor!(dfg, newFactor)
+  factor = addFactor!(dfg, newFactor)
 
   # TODO: change this operation to update a conditioning variable
   graphinit && doautoinit!(dfg, Xi; singles = false)
 
-  return newFactor
+  return factor
 end
 
 function _checkFactorAdd(usrfnc, xisyms)

src/services/JunctionTreeUtils.jl

@@ -847,7 +847,7 @@ function prepBatchTreeOLD!(
     end
   end
 
-  tree = buildTreeFromOrdering!(dfg, p; drawbayesnet = false) # drawbayesnet
+  tree = buildTreeFromOrdering!(dfg, Symbol.(p); drawbayesnet = false) # drawbayesnet
 
   @info "Bayes Tree Complete"
   if drawpdf