working skeleton dfg variables and factors.

label, tags and order

src/DistributedFactorGraphs.jl

@@ -18,7 +18,7 @@ include("entities/AbstractDFGSummary.jl")
 
 export AbstractDFG
 export AbstractParams, NoSolverParams
-export DFGNode, DFGVariable, DFGFactor
+export DFGNode, DFGVariable, DFGFactor, AbstractDFGVariable, AbstractDFGFactor
 export InferenceType, PackedInferenceType, FunctorInferenceType, InferenceVariable, ConvolutionObject
 export FunctorSingleton, FunctorPairwise, FunctorPairwiseMinimize
 export label, timestamp, tags, estimates, estimate, data, solverData, getData, solverDataDict, setSolverData, internalId, smallData, bigData
@@ -81,4 +81,6 @@ end
 # To be moved as necessary.
 include("Common.jl")
 
+#experimental skeleton
+include("SkeletonDFGDev.jl")
 end

src/LightDFG/services/LightDFG.jl

@@ -72,8 +72,9 @@ function addFactor!(dfg::LightDFG{<:AbstractParams, V, F}, variables::Vector{V},
 
 	variableLabels = map(v->v.label, variables)
 
-    factor._variableOrderSymbols = copy(variableLabels)
-
+	resize!(factor._variableOrderSymbols, length(variableLabels))
+	factor._variableOrderSymbols .= variableLabels
+    # factor._variableOrderSymbols = copy(variableLabels)
 
     return FactorGraphs.addFactor!(dfg.g, variableLabels, factor)
 end
@@ -88,7 +89,9 @@ function addFactor!(dfg::LightDFG{<:AbstractParams, <:AbstractDFGVariable, F}, v
         error("Factor '$(factor.label)' already exists in the factor graph")
     end
 
-    factor._variableOrderSymbols = variableLabels
+	resize!(factor._variableOrderSymbols, length(variableLabels))
+	factor._variableOrderSymbols .= variableLabels
+	# factor._variableOrderSymbols = copy(variableLabels)
 
     return FactorGraphs.addFactor!(dfg.g, variableLabels, factor)
 end

src/SkeletonDFGDev.jl

@@ -0,0 +1,29 @@
+"""
+	$(TYPEDEF)
+Skeleton variable with essentials.
+"""
+struct SkeletonDFGVariable <: AbstractDFGVariable
+	label::Symbol
+	tags::Vector{Symbol}
+end
+
+SkeletonDFGVariable(label::Symbol) = SkeletonDFGVariable(label, Symbol[])
+
+label(v::SkeletonDFGVariable) = v.label
+tags(v::SkeletonDFGVariable) = v.tags
+
+"""
+	$(TYPEDEF)
+Skeleton factor with essentials.
+"""
+struct SkeletonDFGFactor <: AbstractDFGFactor
+    label::Symbol
+	tags::Vector{Symbol}
+	_variableOrderSymbols::Vector{Symbol}
+	#TODO consider changing this to a NTyple with parameter N:
+	# _variableOrderSymbols::NTuple{N,Symbol}
+end
+SkeletonDFGFactor(label::Symbol) = SkeletonDFGFactor(label, Symbol[], Symbol[])
+
+label(f::SkeletonDFGFactor) = f.label
+tags(f::SkeletonDFGFactor) = f.tags