Removing Caesar.initfg old API

JuliaRobotics · Jun 24, 2019 · b2c9b8c · b2c9b8c
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Showing 42 changed files with 59 additions and 69 deletions.
diff --git a/docs/src/concepts/multilang.md b/docs/src/concepts/multilang.md
@@ -37,7 +37,7 @@ Then run the following commands, and note these steps have also been [scripted h
 using Caesar, Caesar.ZmqCaesar
 
 # create empty factor graph and config objects
-fg = Caesar.initfg()
+fg = initfg()
 config = Dict{String, String}()
 zmqConfig = ZmqServer(fg, config, true, "tcp://*:5555");
 

diff --git a/examples/database/0_HexagonalSlam2d.jl b/examples/database/0_HexagonalSlam2d.jl
@@ -14,7 +14,7 @@ addrdict["robotId"] = "TestRobot"
 
 # Start with an empty graph (local dictionary version) # fg = initfg(sessionname="SLAM2D_TUTORIAL")
 ## TODO -- ISSUE Julia 0.6.0-0.6.2 dives into some StackOverflow problem using the functions, but fine when called separately.
-fg = Caesar.initfg(sessionname=user_config["session"], robotname=addrdict["robotId"], cloudgraph=backend_config)
+fg = initfg(sessionname=user_config["session"], robotname=addrdict["robotId"], cloudgraph=backend_config)
 
 # fg = RoME.initfg(sessionname=addrdict["session"])
 # fg = IncrementalInference.emptyFactorGraph()

diff --git a/examples/database/1_subGraphCopy.jl b/examples/database/1_subGraphCopy.jl
@@ -12,7 +12,7 @@ addrdict["robotId"] = "PixieBot"
 
 
 # 2. Create a local empty factor graph object
-fg = Caesar.initfg(sessionname=addrdict["sessionId"], robotname=addrdict["robotId"], cloudgraph=cg)
+fg = initfg(sessionname=addrdict["sessionId"], robotname=addrdict["robotId"], cloudgraph=cg)
 # fg.stateless = true # so that we don't update local elements
 
 
@@ -26,7 +26,7 @@ Graphs.plot(fg.g)
 
 # ===========ALTERNATIVE========================================================
 
-fg = Caesar.initfg(sessionname=addrdict["sessionId"], robotname=addrdict["robotId"], cloudgraph=cg)
+fg = initfg(sessionname=addrdict["sessionId"], robotname=addrdict["robotId"], cloudgraph=cg)
 # 3.b Or fetch the entire factor graph
 Caesar.fullLocalGraphCopy!(fg, reqbackendset=false, reqready=false)
 

diff --git a/examples/database/RandomCloudGraphsInteraction.jl b/examples/database/RandomCloudGraphsInteraction.jl
@@ -15,7 +15,7 @@ include(joinpath(dirname(@__FILE__),"blandauthremote.jl"))
 
 
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 fullLocalGraphCopy!(fg)
 
 @show usrf = getData(fg.g.vertices[100003]).fnc.usrfnc!

diff --git a/examples/database/ReadAcousticTest.jl b/examples/database/ReadAcousticTest.jl
@@ -22,7 +22,7 @@ include(joinpath(dirname(@__FILE__),"blandauthremote.jl"))
 
 
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 
 updatenewverts!(fg, N=Nparticles)

diff --git a/examples/database/ReadNewData.jl b/examples/database/ReadNewData.jl
@@ -23,7 +23,7 @@ include(joinpath(dirname(@__FILE__),"blandauthremote.jl"))
 # fieldnames(fg.cg.neo4j)
 
 N=Nparticles
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 # setBackendWorkingSet!(conn, session)
 fullLocalGraphCopy!(fg)
@@ -45,7 +45,7 @@ writeGraphPdf(fg)
 
 
 # Okay now solve locally, or start MM-iSAMCloudSolve.jl
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 setDBAllReady!(fg)
 setBackendWorkingSet!(conn, session)

diff --git a/examples/database/dbgFullLocalGraphCopy.jl b/examples/database/dbgFullLocalGraphCopy.jl
@@ -20,7 +20,7 @@ Nparticles = 100
 include(joinpath(dirname(@__FILE__),"blandauthremote.jl"))
 
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 
 # setDBAllReady!(fg)

diff --git a/examples/database/dbg_packedtype_conversions.jl b/examples/database/dbg_packedtype_conversions.jl
@@ -16,7 +16,7 @@ addrdict["robotId"] = "TestRobot"
 
 
 # Start with an empty graph (local dictionary version) # fg = initfg(sessionname="SLAM2D_TUTORIAL")
-fg = Caesar.initfg(sessionname=user_config["session"], robotname=addrdict["robotId"], cloudgraph=backend_config)
+fg = initfg(sessionname=user_config["session"], robotname=addrdict["robotId"], cloudgraph=backend_config)
 
 
 # first pose :x0

diff --git a/examples/database/dev/BasicCloudGraphsSLAM.jl b/examples/database/dev/BasicCloudGraphsSLAM.jl
@@ -18,7 +18,7 @@ include(joinpath(dirname(@__FILE__),"blandauthremote.jl"))
 
 
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 println("Working with session $(fg.sessionname)...")
 
 
@@ -52,7 +52,7 @@ neighs = CloudGraphs.get_neighbors(fg.cg, cv1r)
 
 
 # now solve using separate variable
-fgs = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fgs = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 setBackendWorkingSet!(conn, session)
 fullLocalGraphCopy!(fgs)

diff --git a/examples/database/dev/BuildCloudFactorGraph.jl b/examples/database/dev/BuildCloudFactorGraph.jl
@@ -17,7 +17,7 @@ Nparticles = parse(Int,addrdict["num particles"])
 N=Nparticles profroot
 profroot
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 
 # Robot navigation and inference type stuff

diff --git a/examples/database/dev/MM-iSAMCloudSolve.jl b/examples/database/dev/MM-iSAMCloudSolve.jl
@@ -17,14 +17,14 @@ Nparticles = parse(Int, addrdict["num particles"])
 println("Attempting to solve session $(session) with $(Nparticles) particles per marginal...")
 
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 setBackendWorkingSet!(fg.cg.neo4j.connection, session)
 
 # TODO -- incremental graph and subgraphs are works in progress
 while true
   println("=================================================")
-  fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+  fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
   setBackendWorkingSet!(fg.cg.neo4j.connection, session)
 
@@ -49,7 +49,7 @@ end
 
 
 
-# fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+# fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 # fullLocalGraphCopy!(fg, conn)
 #
 # ls(fg)

diff --git a/examples/database/dev/convertmongokeys.jl b/examples/database/dev/convertmongokeys.jl
@@ -41,7 +41,7 @@ db = client[:CloudGraphs]
 
 
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 
 # totally reset to frontend built state in DB

diff --git a/examples/database/dev/convertslamindb.jl b/examples/database/dev/convertslamindb.jl
@@ -20,7 +20,7 @@ segment = ""
 info("remember to set n.ready=1")
 if !clearslamindbdata
   println("converting front end data")
-  fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+  fg = initfg(sessionname=session, cloudgraph=cloudGraph)
   Nparticles = parse(Int, addrdict["num particles"])
   updatenewverts!(fg, N=Nparticles)
 else

diff --git a/examples/database/multisession/examplemultisessionmultimodalpriorpoint2densitynh.jl b/examples/database/multisession/examplemultisessionmultimodalpriorpoint2densitynh.jl
@@ -46,7 +46,7 @@ plotKDE(prp2.belief)
 
 # setBackendWorkingSet!(fg.cg.neo4j.connection, session)
 # get full graph copy
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 fullLocalGraphCopy!(fg)
 
 # import IncrementalInference: saveplot

diff --git a/examples/database/multisession/multisessionturt213845analysis.jl b/examples/database/multisession/multisessionturt213845analysis.jl
@@ -51,7 +51,7 @@ for ANAITER in Int[1;2;3;4;5]
     sfg, lms = getLocalSubGraphMultisession(cloudGraph, lm2others,
                     session=session, numneighbors=1)
 
-    fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+    fg = initfg(sessionname=session, cloudgraph=cloudGraph)
     fullLocalGraphCopy!(fg)
 
     jldfile = string(resultsfolder,"/", session, "_$(ANAITER).jld")

diff --git a/examples/database/templatedbinteraction.jl b/examples/database/templatedbinteraction.jl
@@ -10,7 +10,7 @@ addrdict["user"] = "user"
 cloudGraph, addrdict = standardcloudgraphsetup(addrdict=addrdict)
 
 
-fg = Caesar.initfg(cloudgraph=cloudGraph, sessionname=addrdict["session"])
+fg = initfg(cloudgraph=cloudGraph, sessionname=addrdict["session"])
 fullLocalGraphCopy!(fg)
 savejld(fg, file="somefg.jld")
 

diff --git a/examples/database/visualizations/DBCollectionsViewerService.jl b/examples/database/visualizations/DBCollectionsViewerService.jl
@@ -80,7 +80,7 @@ poseswithdepth["x1"] = 0 # skip this pose -- there is no big data before ICRA
 while true
 
   # this is being replaced by cloudGraph, added here for development period
-  fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+  fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
   IDs = getPoseExVertexNeoIDs(fg.cg.neo4j.connection, session=session, reqbackendset=false);
 

diff --git a/examples/database/visualizations/PlottingToolsForFactorGraphs.jl b/examples/database/visualizations/PlottingToolsForFactorGraphs.jl
@@ -10,7 +10,7 @@ addrdict["user"] = "user"
 cloudGraph, addrdict = standardcloudgraphsetup(addrdict=addrdict)
 
 
-fg = Caesar.initfg(cloudgraph=cloudGraph, sessionname=addrdict["session"])
+fg = initfg(cloudgraph=cloudGraph, sessionname=addrdict["session"])
 fullLocalGraphCopy!(fg)
 savejld(fg, file="sandshark_testing_seg417_iNA.jld")
 

diff --git a/examples/database/visualizations/plotpose2.jl b/examples/database/visualizations/plotpose2.jl
@@ -16,7 +16,7 @@ Nparticles = parse(Int,addrdict["num particles"])
 
 # fieldnames(fg.cg.neo4j)
 
-fg = Caesar.initfg(sessionname=session, cloudgraph=cloudGraph)
+fg = initfg(sessionname=session, cloudgraph=cloudGraph)
 
 # setBackendWorkingSet!(conn, session)
 fullLocalGraphCopy!(fg)

diff --git a/examples/dev/FreezeVariables.jl b/examples/dev/FreezeVariables.jl
@@ -3,7 +3,7 @@ using Caesar
 robotId = "Munster"
 sessionId = "Test"
 
-fg = Caesar.initfg(sessionname=sessionId, robotname=robotId)
+fg = initfg(sessionname=sessionId, robotname=robotId)
 
 # also add a PriorPose2 to pin the first pose at a fixed location
 addVariable!(fg, :x0, Pose2) # , labels=["POSE"]

diff --git a/examples/dfg/HexagonalDFG_PoC.jl b/examples/dfg/HexagonalDFG_PoC.jl
@@ -22,7 +22,7 @@ info(dfg)
 ####### ---- MAIN Example
 
 # ... And away we go!
-# fg = Caesar.initfg()
+# fg = initfg()
 
 # Add a first pose variable - x0
 addV!(dfg, :x0, Pose2()) # , labels=["POSE"]

diff --git a/examples/marine/rov/asfm/ASfMExample.jl b/examples/marine/rov/asfm/ASfMExample.jl
@@ -63,7 +63,7 @@ vc = startdefaultvisualization()
 
 
 N = 200
-fg = Caesar.initfg()
+fg = initfg()
 
 sqrtinv = [[10;0;0;0;0;0]';
 [0;10;0;0;0;0]';

diff --git a/examples/marine/rov/highend/lcmserver/drawtoolsfromdb.jl b/examples/marine/rov/highend/lcmserver/drawtoolsfromdb.jl
@@ -10,7 +10,7 @@ addrdict["user"] = "user"
 cloudGraph, addrdict = standardcloudgraphsetup(addrdict=addrdict)
 
 
-fg = Caesar.initfg(cloudgraph=cloudGraph, sessionname=addrdict["session"])
+fg = initfg(cloudgraph=cloudGraph, sessionname=addrdict["session"])
 fullLocalGraphCopy!(fg)
 # savejld(fg, file="somefg.jld")
 

diff --git a/examples/marine/rov/highend/lcmserver/hauvvisualizationdebug.jl b/examples/marine/rov/highend/lcmserver/hauvvisualizationdebug.jl
@@ -63,7 +63,7 @@ end
 # fetch and study the graph as built by server.jl
 
 # setBackendWorkingSet!(fg.cg.neo4j.connection, user_config["session"])
-fg = Caesar.initfg(cloudgraph=backend_config, sessionname=user_config["session"])
+fg = initfg(cloudgraph=backend_config, sessionname=user_config["session"])
 fullLocalGraphCopy!(fg, reqbackendset=true)
 writeGraphPdf(fg)
 run(`evince fg.pdf`)
@@ -167,7 +167,7 @@ zpr5 = veeEuler(wTx5)[[3;4;5]]
 
 # build a new factor graph from this info
 N = 100
-fgnew = Caesar.initfg(cloudgraph=backend_config, sessionname="SESSHAUVCODED")
+fgnew = initfg(cloudgraph=backend_config, sessionname="SESSHAUVCODED")
 
 
 addVariable!(fgnew,:x1,N=N,labels=["POSE"], dims=6)

diff --git a/examples/marine/rov/highend/lcmserver/lcmdbservice.jl b/examples/marine/rov/highend/lcmserver/lcmdbservice.jl
@@ -238,7 +238,7 @@ end
 
 function setupSLAMinDB(;cloudGraph=nothing, addrdict=nothing)
   if cloudGraph != nothing
-    return SLAMWrapper(Caesar.initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph), nothing, 0)
+    return SLAMWrapper(initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph), nothing, 0)
   else
     return SLAMWrapper(RoME.initfg(), nothing, 0)
   end

diff --git a/examples/marine/rov/highend/lcmserver/lcmpose3server.jl b/examples/marine/rov/highend/lcmserver/lcmpose3server.jl
@@ -125,7 +125,7 @@ function runlistener(
 end
 
 function setupSLAMinDB(cloudGraph, addrdict)
-  SLAMWrapper(Caesar.initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph), nothing, 0)
+  SLAMWrapper(initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph), nothing, 0)
 end
 
 function lcmsendpose(lc, vert::Graphs.ExVertex, usrid::Int)

diff --git a/examples/marine/rov/highend/lcmserver/pointclouddev.jl b/examples/marine/rov/highend/lcmserver/pointclouddev.jl
@@ -48,7 +48,7 @@ end
 # this function is on notice!
 function setupSLAMinDB(;cloudGraph=nothing, addrdict=nothing)
   if cloudGraph != nothing
-    return SLAMWrapper(Caesar.initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph), nothing, 0)
+    return SLAMWrapper(initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph), nothing, 0)
   else
     return SLAMWrapper(RoME.initfg(), nothing, 0)
   end

diff --git a/examples/marine/rov/highend/lcmserver/server.jl b/examples/marine/rov/highend/lcmserver/server.jl
@@ -32,7 +32,7 @@ println("[Caesar.jl] Importing LCM message types")
 function initialize!(backend_config,
                     user_config)
     println("[Caesar.jl] Setting up factor graph")
-    fg = Caesar.initfg(sessionname=user_config["session"], cloudgraph=backend_config)
+    fg = initfg(sessionname=user_config["session"], cloudgraph=backend_config)
     println("[Caesar.jl] Creating SLAM client/object")
     return  SLAMWrapper(fg, nothing, 0)
 end

diff --git a/examples/visualization/dbposevisualization.jl b/examples/visualization/dbposevisualization.jl
@@ -15,7 +15,7 @@ cloudGraph, addrdict = standardcloudgraphsetup(addrdict=addrdict)
 
 session = ddrdict["session"]
 
-# fg = Caesar.initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph)
+# fg = initfg(sessionname=addrdict["session"], cloudgraph=cloudGraph)
 
 IDs = getPoseExVertexNeoIDs(cloudGraph.neo4j.connection, session=addrdict["session"], reqbackendset=false);
 

diff --git a/examples/wheeled/vicprk_dev.jl b/examples/wheeled/vicprk_dev.jl
@@ -23,7 +23,7 @@ include(joinpath(Pkg.dir("Caesar"),"examples","wheeled","loadVicPrkData.jl"))
 # # Start new session
 # addrdict["sessionId"] = "VICPRK_VID"
 # addrdict["robotId"] = "Ute"
-# fg = Caesar.initfg(sessionname=user_config["sessionId"], robotname=user_config["robotId"], cloudgraph=backend_config)
+# fg = initfg(sessionname=user_config["sessionId"], robotname=user_config["robotId"], cloudgraph=backend_config)
 # deleteServerSession!(fg.cg, user_config["sessionId"])
 
 
@@ -43,7 +43,7 @@ lsrNoise=diagm([0.1;1.0])
 
 # start factor graph
 N=100
-fg = Caesar.initfg()
+fg = initfg()
 lmoccur = Dict{Symbol, Int}()
 
 # init pose
@@ -201,7 +201,7 @@ end
 
 # fetch a local copy
 
-fg = Caesar.initfg(sessionname=user_config["sessionId"], cloudgraph=backend_config) #, robotname=user_config["robotId"]
+fg = initfg(sessionname=user_config["sessionId"], cloudgraph=backend_config) #, robotname=user_config["robotId"]
 fullLocalGraphCopy!(fg)
 # pl1=drawPosesLandms(fg)
 
@@ -244,7 +244,7 @@ for l1 in L
   j+=1
 end
 #run Server Code
-fg = Caesar.initfg(sessionname=user_config["sessionId"], cloudgraph=backend_config)
+fg = initfg(sessionname=user_config["sessionId"], cloudgraph=backend_config)
 fullLocalGraphCopy!(fg)
 pl2=drawPosesLandms(fg)
 draw(PDF("daniel.pdf",20cm,20cm),pl2)

diff --git a/examples/wheeled/vicprk_full_visual.jl b/examples/wheeled/vicprk_full_visual.jl
@@ -24,7 +24,7 @@ include(joinpath(Pkg.dir("Caesar"),"examples","wheeled","loadVicPrkData.jl"))
 # # Start new session
 # addrdict["sessionId"] = "VICPRK_VID"
 # addrdict["robotId"] = "Ute"
-# fg = Caesar.initfg(sessionname=user_config["sessionId"], robotname=user_config["robotId"], cloudgraph=backend_config)
+# fg = initfg(sessionname=user_config["sessionId"], robotname=user_config["robotId"], cloudgraph=backend_config)
 # deleteServerSession!(fg.cg, user_config["sessionId"])
 
 
@@ -50,7 +50,7 @@ function mainrun(dd,ff; frames=3, coord=Coord.Cartesian(xmin=-100,xmax=100,ymin=
 
     # start factor graph
     N=75
-    fg = Caesar.initfg()
+    fg = initfg()
     lmoccur = Dict{Symbol, Int}()
 
     # init pose

diff --git a/examples/wheeled/victoriapark_onserver.jl b/examples/wheeled/victoriapark_onserver.jl
@@ -43,7 +43,7 @@ addrdict["robotId"] = "Ute"
 
 # Graphs.plot(fg.g)
 
-fg = Caesar.initfg(sessionname=user_config["sessionId"], robotname=user_config["robotId"], cloudgraph=backend_config)
+fg = initfg(sessionname=user_config["sessionId"], robotname=user_config["robotId"], cloudgraph=backend_config)
 
 # deleteServerSession!(fg.cg, user_config["session"])
 
@@ -93,7 +93,7 @@ Gadfly.draw(PDF("/tmp/before.pdf",20cm,20cm),pl)
 
 # fetch a local copy
 
-fg = Caesar.initfg(sessionname=user_config["sessionId"], cloudgraph=backend_config) #, robotname=user_config["robotId"]
+fg = initfg(sessionname=user_config["sessionId"], cloudgraph=backend_config) #, robotname=user_config["robotId"]
 fullLocalGraphCopy!(fg)
 pl1=drawPosesLandms(fg)
 
@@ -133,7 +133,7 @@ for l1 in L
   j+=1
 end
 #run Server Code
-fg = Caesar.initfg(sessionname=user_config["session"], cloudgraph=backend_config)
+fg = initfg(sessionname=user_config["session"], cloudgraph=backend_config)
 fullLocalGraphCopy!(fg)
 pl2=drawPosesLandms(fg)
 draw(PDF("daniel.pdf",20cm,20cm),pl2)