Merge pull request #660 from JuliaRobotics/maint/1Q20/cleanup

cleanup, bugfix, exports

src/ExplicitDiscreteMarginalizations.jl

@@ -25,7 +25,7 @@ end
 """
     $(SIGNATURES)
 
-This function explicitly codes that marginalization of a discrete categorical selection variable for ambiguous data association situations.  Improved implementations should implicitly induce the same behaviour through summation (integration) when marginalizing any number of discrete variables.  This function populates `allelements` with particle indices associated with particular multihypothesis selection while `activehypo` simultaneously contains the hypothesis index and factor graph variables associated with that hypothesis selection.  The return value `certainidx` are the hypotheses that are not in question.
+This function explicitly encodes the marginalization of a discrete categorical selection variable for ambiguous data association situations.  Improved implementations should implicitly induce the same behaviour through summation (integration) when marginalizing any number of discrete variables.  This function populates `allelements` with particle indices associated with particular multihypothesis selection while `activehypo` simultaneously contains the hypothesis index and factor graph variables associated with that hypothesis selection.  The return value `certainidx` are the hypotheses that are not in question.
 
 Notes:
 - Issue 427, race condition during initialization since n-ary variables not resolvable without other init.

src/FGOSUtils.jl

@@ -314,11 +314,11 @@ function getPPESuggestedAll(dfg::AbstractDFG,
   #
   # get values
   vsyms = listVariables(dfg, regexFilter) |> sortDFG
-  slamPPE = map(x->getVariablePPE(dfg, x), vsyms)
+  slamPPE = map(x->getVariablePPE(dfg, x).suggested, vsyms)
   # sizes to convert to matrix
   rumax = zeros(Int, 2)
-  for varr in slamPPE
-    rumax[2] = length(varr)
+  for ppe in slamPPE
+    rumax[2] = length(ppe)
     rumax[1] = maximum(rumax)
   end
 

src/IncrementalInference.jl

@@ -193,8 +193,10 @@ export AbstractDFG,
   categoricalfromstring,
   extractdistribution,
 
-  FactorGraph,
+  # FactorGraph,
   SolverParams,
+  getSolvable,
+  setSolvable!,
   addNode!,
   addVariable!,
   deleteVariable!,
@@ -229,7 +231,6 @@ export AbstractDFG,
   getCliqSiblingsPriorityInitOrder,
   isCliqFullDim,
   getVariable,
-  # getVert, # deprecated use DFG.getVariable getFactor instead
   getCliqueData,
   setCliqueData!,
   getManifolds,
@@ -343,6 +344,7 @@ export AbstractDFG,
   #functors need
   getSample,
   freshSamples!,
+  freshSamples,
 
   #Visualization
   writeGraphPdf, # deprecated, but first move code to drawGraph before deleting

src/SolverUtilities.jl

@@ -52,6 +52,10 @@ function freshSamples!(ccwl::CommonConvWrapper, N::Int=1)
   freshSamples!(ccwl, N, FactorMetadata(),)
 end
 
+function freshSamples(dfg::AbstractDFG, sym::Symbol, N::Int=1)
+  freshSamples(getFactorType(dfg, sym))
+end
+
 function shuffleXAltD(X::Vector{Float64}, Alt::Vector{Float64}, d::Int, p::Vector{Int})
   # n = length(X)
   Y = deepcopy(Alt)