Merge pull request #63 from JuliaRobotics/feature/3Q19/fulldim

partialinit bool becomes inferdim float

Author: dehann

src/entities/DFGVariable.jl

@@ -12,7 +12,7 @@ mutable struct VariableNodeData
   separator::Array{Symbol,1}
   softtype
   initialized::Bool
-  partialinit::Bool
+  inferdim::Float64
   ismargin::Bool
   dontmargin::Bool
   # A valid, packable default constructor is needed.
@@ -28,7 +28,7 @@ mutable struct VariableNodeData
                    # x9::Dict{ Tuple{Symbol, Vector{Float64}} }, # Union{Nothing, },
                    x10,
                    x11::Bool,
-                   x12::Bool,
+                   x12::Float64,
                    x13::Bool,
                    x14::Bool) =
     new(x1,x2,x3,x4,x5,x6,x7,x8,x10,x11,x12,x13,x14)
@@ -50,7 +50,7 @@ mutable struct PackedVariableNodeData
   separator::Array{Symbol,1} # Int
   softtype::String
   initialized::Bool
-  partialinit::Bool
+  inferdim::Float64
   ismargin::Bool
   dontmargin::Bool
   PackedVariableNodeData() = new()
@@ -66,7 +66,7 @@ mutable struct PackedVariableNodeData
                          x10::Vector{Symbol}, # Int
                          x11::String,
                          x12::Bool,
-                         x13::Bool,
+                         x13::Float64,
                          x14::Bool,
                          x15::Bool ) = new(x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15)
 end

src/services/DFGVariable.jl

@@ -8,7 +8,7 @@ function pack(dfg::G, d::VariableNodeData)::PackedVariableNodeData where G <: Ab
                                 d.BayesNetOutVertIDs,
                                 d.dimIDs, d.dims, d.eliminated,
                                 d.BayesNetVertID, d.separator,
-                                d.softtype != nothing ? string(d.softtype) : nothing, d.initialized, d.partialinit, d.ismargin, d.dontmargin)
+                                d.softtype != nothing ? string(d.softtype) : nothing, d.initialized, d.inferdim, d.ismargin, d.dontmargin)
 end
 
 function unpack(dfg::G, d::PackedVariableNodeData)::VariableNodeData where G <: AbstractDFG
@@ -43,7 +43,7 @@ function unpack(dfg::G, d::PackedVariableNodeData)::VariableNodeData where G <:
 
   return VariableNodeData(M3,M4, d.BayesNetOutVertIDs,
     d.dimIDs, d.dims, d.eliminated, d.BayesNetVertID, d.separator,
-    st, d.initialized, d.partialinit, d.ismargin, d.dontmargin )
+    st, d.initialized, d.inferdim, d.ismargin, d.dontmargin )
 end
 
 function compare(a::VariableNodeData,b::VariableNodeData)
@@ -56,7 +56,7 @@ function compare(a::VariableNodeData,b::VariableNodeData)
     TP = TP && a.eliminated == b.eliminated
     TP = TP && a.BayesNetVertID == b.BayesNetVertID
     TP = TP && a.separator == b.separator
-    TP = TP && a.partialinit == b.partialinit
+    TP = TP && abs(a.inferdim - b.inferdim) < 1e-14
     TP = TP && a.ismargin == b.ismargin
     TP = TP && a.softtype == b.softtype
     return TP