DistributedFactorGraphs.jl/src/GraphsDFG/GraphsDFG.jl at 464c386b46c5f010cbc1f4eb7df995c5a163a82f · JuliaRobotics/DistributedFactorGraphs.jl · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
module GraphsDFGs

using Graphs
using DocStringExtensions
using UUIDs
using JSON
using OrderedCollections

using ...DistributedFactorGraphs
using ...DistributedFactorGraphs:
    Agent,
    LabelNotFoundError,
    LabelExistsError,
    MergeConflictError,
    Graphroot,
    AbstractGraphVariable,
    AbstractGraphFactor,
    NoSolverParams,
    filterDFG!,
    getSolvable,
    getStateKind,
    getAgentLabel,
    getGraphLabel,
    isInitialized,
    Bloblets,
    Blobentries,
    FolderStore,
    refTags,
    listTags,
    patch!

# import DFG functions to extend
import ...DistributedFactorGraphs:
    setSolverParams!,
    getFactor,
    # getLabelDict,
    addVariable!,
    getVariable,
    addFactor!,
    getSolverParams,
    hasVariable,
    hasFactor,
    isVariable,
    isFactor,
    mergeVariable!,
    mergeFactor!,
    deleteVariable!,
    deleteFactor!,
    getVariables,
    listVariables,
    ls,
    getFactors,
    listFactors,
    lsf,
    isConnected,
    listNeighbors,
    buildSubgraph,
    getBiadjacencyMatrix,
    toDot,
    toDotFile,
    findShortestPathDijkstra,
    getGraphBlobentry,
    getGraphBlobentries,
    addGraphBlobentry!,
    addGraphBlobentries!,
    listGraphBlobentries,
    listAgentBlobentries

include("FactorGraphs/FactorGraphs.jl")
using .FactorGraphs

# export SymbolEdge, is_directed, has_edge
# Imports
include("entities/GraphsDFG.jl")
include("services/GraphsDFG.jl")

# Exports
export GraphsDFG

#FIXME maybe add a trait based on solver data for rebuilding factor cache and dispatch on it.
function DFG.rebuildFactorCache!(
    dfg::GraphsDFG{NoSolverParams},
    factor::FactorDFG,
    neighbors = [],
)
    @warn(
        "FactorCache not built, rebuildFactorCache! is not implemented for $(typeof(dfg)). `rebuildFactorCache!` is available in IncrementalInference.",
        maxlog = 1
    )
    return nothing
end

end