Merge branch 'master' into 23Q3/maint/bump_dfg_v0.23

Author: dehann

src/Serialization/services/DispatchPackedConversions.jl

@@ -12,7 +12,7 @@ function convert(
     d.edgeIDs,
     convert(P, _getCCW(d).usrfnc!),
     d.multihypo,
-    _getCCW(d).certainhypo,
+    _getCCW(d).hyporecipe.certainhypo,
     d.nullhypo,
     d.solveInProgress,
     d.inflation,
@@ -92,7 +92,7 @@ Dev Notes:
 function rebuildFactorMetadata!(
   dfg::AbstractDFG{SolverParams},
   factor::DFGFactor,
-  neighbors = map(vId -> getVariable(dfg, vId), getNeighbors(dfg, factor));
+  neighbors = map(vId -> getVariable(dfg, vId), listNeighbors(dfg, factor));
   _blockRecursionGradients::Bool=false
 )
   #

src/services/BayesNet.jl

@@ -102,8 +102,8 @@ function rmVarFromMarg(dfg::AbstractDFG, fromvert::DFGVariable, gm::Vector{DFGFa
   @debug " - Removing $(fromvert.label)"
   for m in gm
     @debug "Looking at $(m.label)"
-    for n in DFG.getNeighbors(dfg, m) #x1, x2
-      if n == fromvert.label # n.label ==? x1
+    for n in listNeighbors(dfg, m) #x1, x2
+      if n == getLabel(fromvert) # n.label ==? x1
         @debug "   - Breaking link $(m.label)->$(fromvert.label)..."
         @debug "     - Original links: $(DFG.ls(dfg, m))"
         remvars = setdiff(DFG.ls(dfg, m), [fromvert.label])
@@ -125,7 +125,7 @@ function rmVarFromMarg(dfg::AbstractDFG, fromvert::DFGVariable, gm::Vector{DFGFa
       end
     end
     # Added back in chain rule.
-    if DFG.exists(dfg, m) && length(DFG.getNeighbors(dfg, m)) <= 1
+    if DFG.exists(dfg, m) && length(listNeighbors(dfg, m)) <= 1
       @warn "removing vertex id=$(m.label)"
       DFG.deleteFactor!(dfg, m)
     end
@@ -149,11 +149,11 @@ function buildBayesNet!(dfg::AbstractDFG, elimorder::Vector{Symbol}; solvable::I
     gm = DFGFactor[]
 
     vert = DFG.getVariable(dfg, v)
-    for fctId in DFG.getNeighbors(dfg, vert; solvable = solvable)
+    for fctId in listNeighbors(dfg, vert; solvable = solvable)
       fct = DFG.getFactor(dfg, fctId)
       if (getSolverData(fct).eliminated != true)
         push!(fi, fctId)
-        for sepNode in DFG.getNeighbors(dfg, fct; solvable = solvable)
+        for sepNode in listNeighbors(dfg, fct; solvable = solvable)
           # TODO -- validate !(sepNode.index in Si) vs. older !(sepNode in Si)
           if sepNode != v && !(sepNode in Si) # Symbol comparison!
             push!(Si, sepNode)

src/services/FGOSUtils.jl

@@ -516,7 +516,7 @@ function getFactorsAmongVariablesOnly(
   # Select factors that have all variables in this clique var list
   usefcts = Symbol[]
   for fct in almostfcts
-    if length(setdiff(DFG.getNeighbors(dfg, fct), varlist)) == 0
+    if length(setdiff(listNeighbors(dfg, fct), varlist)) == 0
       push!(usefcts, fct)
     end
   end

src/services/GraphInit.jl

@@ -66,7 +66,7 @@ function factorCanInitFromOtherVars(
 )
   #
   # all variables attached to this factor
-  varsyms = DFG.getNeighbors(dfg, fct)
+  varsyms = listNeighbors(dfg, fct)
 
   # which element is being solved for
   sfidx = (1:length(varsyms))[varsyms .== loovar][1]
@@ -145,7 +145,7 @@ function doautoinit!(
     end
     # get factors attached to this variable xi
     vsym = xi.label
-    neinodes = DFG.getNeighbors(dfg, vsym)
+    neinodes = listNeighbors(dfg, vsym)
     # proceed if has more than one neighbor OR even if single factor
     if (singles || length(neinodes) > 1)
       # Which of the factors can be used for initialization

src/services/GraphProductOperations.jl

@@ -18,7 +18,7 @@ function propagateBelief(
   destvar::DFGVariable,
   factors::AbstractVector; #{<:DFGFactor};
   solveKey::Symbol = :default,
-  dens::AbstractVector{<:ManifoldKernelDensity} = Vector{ManifoldKernelDensity}(), # TODO, abstract is unstable
+  dens::AbstractVector{<:ManifoldKernelDensity} = Vector{ManifoldKernelDensity}(), # TODO, abstract requires dynamic dispatch (slow)
   N::Integer = getSolverParams(dfg).N,
   needFreshMeasurements::Bool = true,
   dbg::Bool = false,
@@ -75,7 +75,7 @@ function propagateBelief(
 end
 #
 
-propagateBelief(dfg::AbstractDFG, destlbl::Symbol, ::Colon; kw...) = propagateBelief(dfg, destlbl, getNeighbors(dfg, destlbl); kw...)
+propagateBelief(dfg::AbstractDFG, destlbl::Symbol, ::Colon; kw...) = propagateBelief(dfg, destlbl, listNeighbors(dfg, destlbl); kw...)
 
 
 
@@ -97,7 +97,7 @@ function localProduct(
 )
   #
   # vector of all neighbors as Symbols
-  lb = getNeighbors(dfg, sym)
+  lb = listNeighbors(dfg, sym)
 
   # store proposal beliefs, TODO replace Abstract with concrete type
   dens = Vector{ManifoldKernelDensity}()

src/services/SubGraphFunctions.jl

@@ -30,7 +30,7 @@ function buildCliqSubgraph!(
   #todo replace with the factor list (potentials) from the clique
   addfac = Symbol[]
   for sym in frontals
-    union!(addfac, getNeighbors(dfg, sym))
+    union!(addfac, listNeighbors(dfg, sym))
   end
 
   allfacs = Symbol[]