Typed Symbols

Cargo.toml

@@ -23,7 +23,7 @@ faer = { version = "0.19.0", default-features = false, features = [
 faer-ext = { version = "0.2.0", features = ["nalgebra"] }
 nalgebra = { version = "0.32.5", features = ["compare"] }
 num-dual = "0.9.1"
-matrixcompare-core = { version = "0.1" }
+matrixcompare = { version = "0.1" }
 
 # serialization
 serde = { version = "1.0.203", optional = true }

README.md

@@ -18,8 +18,12 @@ We recommend you checkout the [docs](https://docs.rs/factrs/latest/factrs/) (WIP
 ```rust
 use factrs::prelude::*;
 
+// Assign symbols to variable types
+assign_symbols!(X: SO2);
+
 // Make all the values
 let mut values = Values::new();
+
 let x = SO2::from_theta(1.0);
 let y = SO2::from_theta(2.0);
 values.insert(X(0), SO2::identity());
@@ -28,13 +32,16 @@ values.insert(X(1), SO2::identity());
 // Make the factors & insert into graph
 let mut graph = Graph::new();
 let res = PriorResidual::new(x.clone());
-let factor = Factor::new_base(&[X(0)], res);
+let factor = FactorBuilder::new1(res, X(0)).build();
 graph.add_factor(factor);
 
 let res = BetweenResidual::new(y.minus(&x));
 let noise = GaussianNoise::from_scalar_sigma(0.1);
 let robust = Huber::default();
-let factor = Factor::new_full(&[X(0), X(1)], res, noise, robust);
+let factor = FactorBuilder::new2(res, X(0), X(1))
+    .noise(noise)
+    .robust(robust)
+    .build();
 graph.add_factor(factor);
 
 // Optimize!

examples/serde.rs

@@ -2,6 +2,7 @@ use factrs::{
     containers::{Graph, Values, X},
     factors::Factor,
     noise::GaussianNoise,
+    prelude::FactorBuilder,
     residuals::{BetweenResidual, PriorResidual},
     robust::{GemanMcClure, L2},
     variables::{SE2, SO2},
@@ -26,13 +27,13 @@ fn main() {
     let prior = PriorResidual::new(x);
     let bet = BetweenResidual::new(y);
 
-    let prior = Factor::new_full(
-        &[X(0)],
-        prior,
-        GaussianNoise::from_scalar_cov(0.1),
-        GemanMcClure::default(),
-    );
-    let bet = Factor::new_full(&[X(0), X(1)], bet, GaussianNoise::from_scalar_cov(10.0), L2);
+    let prior = FactorBuilder::new1(prior, X(0))
+        .noise(GaussianNoise::from_scalar_cov(0.1))
+        .robust(GemanMcClure::default())
+        .build();
+    let bet = FactorBuilder::new2(bet, X(0), X(1))
+        .noise(GaussianNoise::from_scalar_cov(10.0))
+        .build();
     let mut graph = Graph::new();
     graph.add_factor(prior);
     graph.add_factor(bet);