filtering use 'whereX' instead of 'XFilter' (#791)

Co-authored-by: Johannes Terblanche <Affie@users.noreply.github.com>

Author: Affie

RoME/examples/Beehive2D.jl

@@ -595,8 +595,8 @@ getPoints(getBelief(l0adfg, :l0))
 
 ## DEBUG post 6
 
-pl = plotKDE(fg, ls(fg; labelFilter = contains(r"l")); levels = 1)
-pl = plotKDE(fg, ls(fg; labelFilter = contains(r"x")); levels = 1)
+pl = plotKDE(fg, ls(fg; whereLabel = contains(r"l")); levels = 1)
+pl = plotKDE(fg, ls(fg; whereLabel = contains(r"x")); levels = 1)
 
 dontMarginalizeVariablesAll!(fg)
 getSolverParams(fg).dbg = true

RoME/examples/DeadReckoningBranch.jl

@@ -48,8 +48,8 @@ using Test
     addFactor!(fg, [:x0; :deadreckon_x0], drec; solvable = 0)
 
     #
-    @test length(map(x -> x.label, getVariables(fg; solvableFilter = >=(1)))) == 8
-    @test length(map(x -> x.label, getVariables(fg; solvableFilter = >=(0)))) == 9
+    @test length(map(x -> x.label, getVariables(fg; whereSolvable = >=(1)))) == 8
+    @test length(map(x -> x.label, getVariables(fg; whereSolvable = >=(0)))) == 9
     #
     # # make sure
     @test length(getEliminationOrder(fg; solvable = 1)) == 8

RoME/examples/Hexagonal2D_BearingOnly_SLAM.jl

@@ -45,7 +45,7 @@ bear2 = atan(10, 10) - pi / 3
 
 # Add landmarks with Bearing range measurements at x0, x6, x12, x18, x24, x30...
 # Get variables
-vars = ls(fg; labelFilter = contains(r"x")) |> sortDFG
+vars = ls(fg; whereLabel = contains(r"x")) |> sortDFG
 for xIndex = 1:6:length(vars)
     @info("Creating factor between $(vars[xIndex]) and l1...")
     p2br = Pose2Point2Bearing(Normal(bear1, 0.05))

RoME/src/canonical/GenerateCircular.jl

@@ -29,7 +29,7 @@ Related
 function generateGraph_Circle(
     poses::Int = 6;
     fg::AbstractDFG = initfg(),
-    offsetPoses::Int = maximum([length(ls(fg; labelFilter = contains(r"x\d"))) - 1; 0]),
+    offsetPoses::Int = maximum([length(ls(fg; whereLabel = contains(r"x\d"))) - 1; 0]),
     autoinit::Union{Bool, Nothing} = nothing,
     graphinit::Bool = true,
     landmark::Bool = true,

RoME/src/canonical/GenerateHoneycomb.jl

@@ -264,7 +264,7 @@ function generateGraph_Honeycomb!(
     # does anything exist in the graph yet
     posecount = if :x0 in ls(dfg)
         # what is the last pose
-        lastPose = (ls(dfg, r"x\d+") |> sortDFG)[end]
+        lastPose = (ls(dfg; whereLabel =  contains(r"x\d+")) |> sortDFG)[end]
         # get latest posecount number
         match(r"\d+", string(lastPose)).match |> x -> parse(Int, x)
     else

RoME/src/legacy/Slam.jl

@@ -221,7 +221,7 @@ function manageSolveTree!(
 
     # needs to run asynchronously
     ST = @async begin
-        while @show length(ls(dfg, :x0; solvableFilter = >=(1))) == 0
+        while @show length(ls(dfg, :x0; whereSolvable = >=(1))) == 0
             "waiting for prior on x0" |> println
             sleep(1)
         end
@@ -298,7 +298,7 @@ function manageSolveTree!(
                 mss.solveInProgress = SSMReady
 
                 # adjust latest RTT after solve, latest solved -- hard coded pose stride 10
-                lastList = sortDFG(ls(dfg; labelFilter =  contains( r"x\d+9\b|x9\b"), solvableFilter = >=(1)))
+                lastList = sortDFG(ls(dfg; whereLabel =  contains( r"x\d+9\b|x9\b"), whereSolvable = >=(1)))
                 if 0 < length(lastList)
                     lastSolved = lastList[end]
                     mss.drtCurrent =

RoME/src/services/OdometryUtils.jl

@@ -192,7 +192,7 @@ There are also two matrix values: the first is the relative transform based on m
 """
 function assembleChordsDict(
     dfg::AbstractDFG,
-    vsyms = ls(dfg; labelFilter =  contains(r"x\d")) |> sortDFG,
+    vsyms = ls(dfg; whereLabel =  contains(r"x\d")) |> sortDFG,
     MAXADI = 10,
     lastPoseNum = getVariableLabelNumber(vsyms[end]),
     chords = Dict{Symbol, Dict{Symbol, Tuple}}(),

RoME/src/services/RobotUtils.jl

@@ -210,7 +210,7 @@ List all variables that fall in numerical range `from`, `to`, and with prefix ke
 
 Related
 
-DFG.getVariableLabelNumber, DFT.findFactorsBetweenNaive
+DFG.getVariableLabelNumber
 """
 function listVariablesLabelsWithinRange(
     fg::AbstractDFG,

RoME/src/services/g2oParser.jl

@@ -366,7 +366,7 @@ function _writeG2oFactors(
     for vs in vars
         # assign a unique number
         # all factors connected to variable
-        vfcs = listNeighbors(dfg, vs; solvableFilter = >=(solvable))
+        vfcs = listNeighbors(dfg, vs; whereSolvable = >=(solvable))
         kvfcs = intersect(vfcs, fcts)
         for fc in kvfcs
             # ignore priors
@@ -409,9 +409,9 @@ function exportG2o(
     #
     uniqVarInt = Int[-1;]
     # all variables
-    vars = ls(dfg; labelFilter =  contains(poseRegex), solvableFilter = >=(solvable)) |> sortDFG
+    vars = ls(dfg; whereLabel =  contains(poseRegex), whereSolvable = >=(solvable)) |> sortDFG
     # all factors
-    fcts = lsf(dfg; solvableFilter = >=(solvable))
+    fcts = lsf(dfg; whereSolvable = >=(solvable))
     # build text file based on factors, using pose variable order as guide
     io = open(filename, "w")
 

RoME/test/testDeadReckoningTether.jl

@@ -48,8 +48,8 @@ using Test
     addFactor!(fg, [:x0; :deadreckon_x0], drec; solvable = 0)
 
     #
-    @test length(map(x -> x.label, getVariables(fg; solvableFilter = >=(1)))) == 8
-    @test length(map(x -> x.label, getVariables(fg; solvableFilter = >=(0)))) == 9
+    @test length(map(x -> x.label, getVariables(fg; whereSolvable = >=(1)))) == 8
+    @test length(map(x -> x.label, getVariables(fg; whereSolvable = >=(0)))) == 9
     #
     # # make sure
     @test length(getEliminationOrder(fg; solvable = 1)) == 8