diff --git a/src/SolverUtilities.jl b/src/SolverUtilities.jl index 5e5bb9d1e..da6c6eee2 100644 --- a/src/SolverUtilities.jl +++ b/src/SolverUtilities.jl @@ -135,6 +135,9 @@ Notes - Often used to quickly generate temporary graphs for a variety of local calculations. - does not yet support split `_` characters in auto-find `lastVar` from `varPattern`. - Will always add a factor, but will skip adding variable labels that already exist in `dfg`. + +DevNotes +- TODO allow pts to be full MKD beliefs, part of replacing old `approxConvCircular`, see #1351 """ function _buildGraphByFactorAndTypes!(fct::AbstractFactor, varTypes::Tuple, @@ -158,6 +161,7 @@ function _buildGraphByFactorAndTypes!(fct::AbstractFactor, # add the necessary variables exists(dfg, vars[s_]) ? nothing : addVariable!(dfg, vars[s_], vTyp) # set the numerical values if available + # TODO allow pts to come in as full MKD beliefs, not just one point ((0 < length(pts)) && (pts[s_] isa Nothing)) ? nothing : initManual!(dfg, vars[s_], [pts[s_],], solveKey, bw=ones(getDimension(vTyp))) end # if newFactor then add the factor on vars, else assume only one existing factor between vars diff --git a/src/services/ApproxConv.jl b/src/services/ApproxConv.jl index 99995b8e1..2ae2cf09a 100644 --- a/src/services/ApproxConv.jl +++ b/src/services/ApproxConv.jl @@ -239,7 +239,16 @@ end # group partial dimension factors by selected dimensions -- i.e. [(1,)], [(1,2),(1,2)], [(2,);(2;)] - +# WIP, see `_buildGraphByFactorAndTypes!` where pts are full MKD Beliefs, following #1351 +# Legacy use in RoMEPlotting: plotFactor +# function approxConvBelief(fct::AbstractFactorRelative, +# varTypes::Union{<:Tuple,<:AbstractVector{<:InstanceType{T}}}, +# mkds::Union{<:Tuple,<:AbstractVector{<:InstanceType{T}}}; +# tfg::AbstractDFG=_buildGraphByFactorAndTypes!(fct,) +# ) where {T <: InferenceVariable} +# # + +# end