Merge pull request #112 from JuliaRobotics/cherrypick/3Q19/lsWho

FEATURE backport lsWho, lsfWho

Author: GearsAD

src/Common.jl

@@ -230,3 +230,71 @@ function lsTypes(dfg::G)::Dict{Symbol, Vector{String}} where G <: AbstractDFG
   end
   return alltypes
 end
+
+
+function ls(dfg::G, ::Type{T}; solveKey::Symbol=:default) where {G <: AbstractDFG, T <: InferenceVariable}
+  xx = getVariables(dfg)
+  mask = getVariableType.(xx, solveKey=solveKey) .|> typeof .== T
+  vxx = view(xx, mask)
+  map(x->x.label, vxx)
+end
+
+
+function ls(dfg::G, ::Type{T}) where {G <: AbstractDFG, T <: FunctorInferenceType}
+  xx = getFactors(dfg)
+  names = getfield.(typeof.(getFactorType.(xx)), :name) .|> Symbol
+  vxx = view(xx, names .== Symbol(T))
+  map(x->x.label, vxx)
+end
+
+function lsf(dfg::G, ::Type{T}) where {G <: AbstractDFG, T <: FunctorInferenceType}
+  ls(dfg, T)
+end
+
+
+"""
+    $(SIGNATURES)
+Gives back all factor labels that fit the bill:
+	lsWho(dfg, :Pose3)
+
+Dev Notes
+- Cloud versions will benefit from less data transfer
+ - `ls(dfg::C, ::T) where {C <: CloudDFG, T <: ..}`
+
+Related
+
+ls, lsf, lsfPriors
+"""
+function lsWho(dfg::AbstractDFG, type::Symbol; solveKey::Symbol=:default)::Vector{Symbol}
+    vars = getVariables(dfg)
+	labels = Symbol[]
+    for v in vars
+		varType = typeof(getVariableType(v, solveKey=solveKey)).name |> Symbol
+		varType == type && push!(labels, v.label)
+	end
+	return labels
+end
+
+
+"""
+    $(SIGNATURES)
+Gives back all factor labels that fit the bill:
+	lsfWho(dfg, :Point2Point2)
+
+Dev Notes
+- Cloud versions will benefit from less data transfer
+ - `ls(dfg::C, ::T) where {C <: CloudDFG, T <: ..}`
+
+Related
+
+ls, lsf, lsfPriors
+"""
+function lsfWho(dfg::AbstractDFG, type::Symbol)::Vector{Symbol}
+	facs = getFactors(dfg)
+	labels = Symbol[]
+    for f in facs
+		facType = typeof(getFactorType(f)).name |> Symbol
+		facType == type && push!(labels, f.label)
+	end
+	return labels
+end