depr predictbelief use propagateBelief instead

Author: dehann

src/Deprecated.jl

@@ -125,7 +125,12 @@ end
 
 
 @deprecate _prepCCW(w...;kw...) _createCCW(w...;kw...)
-@deprecate predictbelief(w...;asPartial::Bool=false,kw...)  ((bel,ipc)=getPoints(propagateBelief(w...;asPartial,kw...)), (getPoints(bel),ipc))
+
+predictbelief(w...;asPartial::Bool=false,kw...) = begin 
+  @warn("predictbelief is deprecated, use propagateBelief instead")
+  bel,ipc = propagateBelief(w...;asPartial,kw...)
+  getPoints(bel), ipc
+end
 
 # """
 #     $SIGNATURES
@@ -270,6 +275,9 @@ function Base.getproperty(ccw::CommonConvWrapper, f::Symbol)
   end
 end
 
+
+
+
 ##==============================================================================
 ## Deprecate code below before v0.35
 ##==============================================================================

src/ExportAPI.jl

@@ -153,6 +153,7 @@ export CSMHistory,
   getNumPts,
   getBWVal,
   setBW!,
+  setBelief!,
   setValKDE!,
   buildCliqSubgraph,
 

src/services/EvalFactor.jl

@@ -159,16 +159,16 @@ function computeAcrossHypothesis!(
   activehypo = hyporecipe.activehypo
   certainidx = hyporecipe.certainidx
 
-  @assert ccwl.certainhypo == hyporecipe.certainidx "expected hyporecipe.certainidx to be the same as cached in ccw"
+  @assert ccwl.hyporecipe.certainhypo == hyporecipe.certainidx "expected hyporecipe.certainidx to be the same as cached in ccw"
   for (hypoidx, vars) in activehypo
     count += 1
 
     # now do hypothesis specific
     if sfidx in certainidx && hypoidx != 0 || hypoidx in certainidx || hypoidx == sfidx
       # hypo case hypoidx, sfidx = $hypoidx, $sfidx
       # for i = 1:Threads.nthreads()
-        resize!(ccwl.activehypo, length(vars))
-        ccwl.activehypo[:] = vars
+        resize!(ccwl.hyporecipe.activehypo, length(vars))
+        ccwl.hyporecipe.activehypo[:] = vars
       # end
 
       addEntr = view(destinationVarVals, allelements[count])
@@ -346,7 +346,7 @@ function evalPotentialSpecific(
   # nullSurplus see #1517
   runnullhypo = maximum((ccwl.nullhypo, nullSurplus))
   hyporecipe =
-    _prepareHypoRecipe!(ccwl.hypotheses, maxlen, sfidx, length(variables), isinit, runnullhypo)
+    _prepareHypoRecipe!(ccwl.hyporecipe.hypotheses, maxlen, sfidx, length(variables), isinit, runnullhypo)
 
   # get manifold add operations
   # TODO, make better use of dispatch, see JuliaRobotics/RoME.jl#244
@@ -358,7 +358,7 @@ function evalPotentialSpecific(
 
   # perform the numeric solutions on the indicated elements
   # FIXME consider repeat solve as workaround for inflation off-zero 
-  # NOTE alternate use of ccwl.certainidx to hyporecipe, certainidx = ccwl.certainhypo
+  # NOTE alternate use of ccwl.certainidx to hyporecipe, certainidx = ccwl.hyporecipe.certainhypo
   computeAcrossHypothesis!(
     ccwl,
     hyporecipe,
@@ -425,7 +425,7 @@ function evalPotentialSpecific(
   # nullSurplus see #1517
   runnullhypo = maximum((ccwl.nullhypo, nullSurplus))
   hyporecipe =
-    _prepareHypoRecipe!(ccwl.hypotheses, maxlen, sfidx, length(variables), isinit, runnullhypo)
+    _prepareHypoRecipe!(ccwl.hyporecipe.hypotheses, maxlen, sfidx, length(variables), isinit, runnullhypo)
 
   # get solvefor manifolds, FIXME ON FIRE, upgrade to new Manifolds.jl
   mani = getManifold(variables[sfidx])

src/services/FactorGraph.jl

@@ -282,6 +282,10 @@ function setValKDE!(
   return nothing
 end
 
+function setBelief!(vari::DFGVariable, bel::ManifoldKernelDensity, setinit::Bool=true,ipc::AbstractVector{<:Real}=[0.0;])
+  setValKDE!(vari,getPoints(bel),setinit, ipc)
+end
+
 """
     $SIGNATURES
 
@@ -743,7 +747,7 @@ function getDefaultFactorData(
     edgeIDs,
     ccwl,
     multihypo,
-    ccw.certainhypo,
+    ccwl.hyporecipe.certainhypo,
     nullhypo,
     solveInProgress,
     inflation,

src/services/GraphProductOperations.jl

@@ -23,6 +23,7 @@ function propagateBelief(
   needFreshMeasurements::Bool = true,
   dbg::Bool = false,
   logger = ConsoleLogger(),
+  asPartial::Bool=false,
 )
   #
 
@@ -44,7 +45,7 @@ function propagateBelief(
   varType = getVariableType(destvar)
   M = getManifold(varType)
   # @info "BUILDING MKD" varType M isPartial.(dens)
-
+  
   # take the product
   mkd = AMP.manifoldProduct(
     dens,
@@ -74,7 +75,7 @@ function propagateBelief(
 end
 #
 
-propagateBelief(dfg::AbstractDFG, destlbl::Symbol, ::Colon; kw...) = return propagateBelief(dfg, destlbl, getNeighbors(dfg, destlbl); kw...)
+propagateBelief(dfg::AbstractDFG, destlbl::Symbol, ::Colon; kw...) = propagateBelief(dfg, destlbl, getNeighbors(dfg, destlbl); kw...)
 
 
 

src/services/SolveTree.jl

@@ -60,18 +60,19 @@ function doFMCIteration(
   vert = DFG.getVariable(fgl, vsym)
   if !getSolverData(vert, solveKey).ismargin
     # potprod = nothing
-    densPts, ipc = predictbelief(
+    dens, ipc = propagateBelief(
       fgl,
       vsym,
       :;
-      needFreshMeasurements = needFreshMeasurements,
-      N = N,
-      dbg = dbg,
-      logger = logger,
+      needFreshMeasurements,
+      N,
+      dbg,
+      logger,
     )
 
-    if 0 < length(densPts)
-      setValKDE!(vert, densPts, true, ipc)
+    if 0 < length(getPoints(dens))
+      setBelief!(vert, dens, true, ipc)
+      # setValKDE!(vert, densPts, true, ipc)
       # TODO perhaps more debugging inside `propagateBelief`?
     end
   end

test/testMultiHypo3Door.jl

@@ -1,4 +1,5 @@
 # load requried packages
+# using Revise
 using IncrementalInference
 using Test