Refactoring Factors: data -> state, observation and cache

Project.toml

@@ -19,6 +19,7 @@ ManifoldsBase = "3362f125-f0bb-47a3-aa74-596ffd7ef2fb"
 OrderedCollections = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
+Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 SHA = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -61,6 +62,7 @@ ManifoldsBase = "0.14, 0.15, 1"
 OrderedCollections = "1.4"
 Pkg = "1.4, 1.5"
 ProgressMeter = "1"
+Random = "1.10"
 RecursiveArrayTools = "2, 3"
 Reexport = "1"
 SHA = "0.7, 1"

src/Deprecated.jl

@@ -190,6 +190,39 @@
     end
 end
 
+function FactorCompute(
+    label::Symbol,
+    timestamp::Union{DateTime, ZonedDateTime},
+    nstime::Nanosecond,
+    tags::Set{Symbol},
+    solverData::GenericFunctionNodeData,
+    solvable::Int,
+    variableOrder::Union{Vector{Symbol}, Tuple};
+    observation = getFactorType(solverData),
+    state::FactorState = FactorState(),
+    workmem::Base.RefValue{<:FactorOperationalMemory} = Ref{FactorOperationalMemory}(),
+    id::Union{UUID, Nothing} = nothing,
+    smallData::Dict{Symbol, SmallDataTypes} = Dict{Symbol, SmallDataTypes}(),
+)
+    error(
+        "This constructor is deprecated, use FactorCompute(label, variableOrder, solverData; ...) instead",
+    )
+    return FactorCompute(
+        id,
+        label,
+        tags,
+        Tuple(variableOrder),
+        timestamp,
+        nstime,
+        Ref(solverData),
+        Ref(solvable),
+        smallData,
+        observation,
+        state,
+        workmem,
+    )
+end
+
 ## ================================================================================
 ## Deprecated in v0.25
 ##=================================================================================

src/DistributedFactorGraphs.jl

@@ -18,6 +18,7 @@ using Base
 using Base64
 using DocStringExtensions
 using Dates
+using Random
 using TimeZones
 using Distributions
 using Reexport