Merge pull request #1448 from JuliaRobotics/master

v0.25.7-rc1

Project.toml

@@ -2,7 +2,7 @@ name = "IncrementalInference"
 uuid = "904591bb-b899-562f-9e6f-b8df64c7d480"
 keywords = ["MM-iSAMv2", "Bayes tree", "junction tree", "Bayes network", "variable elimination", "graphical models", "SLAM", "inference", "sum-product", "belief-propagation"]
 desc = "Implements the Multimodal-iSAMv2 algorithm."
-version = "0.25.6"
+version = "0.25.7"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"

src/DefaultNodeTypes.jl

@@ -4,12 +4,16 @@
 """
     $SIGNATURES
 
-Hacky version to return which factor type to use between two variables of types T1 and T2.
+Return a default factor type between two variables of types T1 and T2.
 
-Pending work on RoME.jl #244 and IIF.jl #1010 and others, after which this will be refactored.
+Notes
+- Most likely used with deconvolution between target variables
 """
-selectFactorType(T1::InstanceType{ContinuousScalar}, T2::InstanceType{ContinuousScalar}) = LinearRelative{1}
+selectFactorType(Modl::Module, T1::Type{<:InferenceVariable}, T2::Type{<:InferenceVariable}) = getfield(Modl, Symbol(T1, T2))
+selectFactorType(T1::Type{<:InferenceVariable}, T2::Type{<:InferenceVariable}) = selectFactorType(typeof(T1()).name.module, T1, T2)
+selectFactorType(T1::Type{<:ContinuousScalar}, T2::Type{<:ContinuousScalar}) = LinearRelative{1}
 selectFactorType(T1::Type{<:ContinuousEuclid{N}}, T2::Type{<:ContinuousEuclid{N}}) where N = LinearRelative{N}
 selectFactorType(T1::InferenceVariable, T2::InferenceVariable) = selectFactorType(typeof(T1), typeof(T2))
 selectFactorType(dfg::AbstractDFG, s1::Symbol, s2::Symbol) = selectFactorType( getVariableType(dfg, s1), getVariableType(dfg, s2) )
 
+#