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Merged
merged 1 commit into from
Aug 13, 2021
Merged

comments for future work #1352

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4 changes: 4 additions & 0 deletions src/SolverUtilities.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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
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11 changes: 10 additions & 1 deletion src/services/ApproxConv.jl
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Expand Up @@ -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



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