Merge pull request #1053 from JuliaRobotics/master

v0.23.4-rc1

Author: Affie

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.23.3"
+version = "0.23.4"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/DataBlobs/services/BlobEntry.jl

@@ -195,6 +195,18 @@ Notes:
 function deleteBlobEntry!(var::AbstractDFGVariable, key::Symbol)
     return pop!(var.dataDict, key)
 end
+
+function deleteBlobEntry!(var::PackedVariable, key::Symbol)
+    if !hasBlobEntry(var, key)
+        throw(
+            KeyError(
+                "No dataEntry label $(key) found in variable $(getLabel(var)). Available keys: $(keys(var.dataDict))",
+            ),
+        )
+    end
+    return deleteat!(var.blobEntries, findfirst(x -> x.label == key, var.blobEntries))
+end
+
 function deleteBlobEntry!(dfg::AbstractDFG, label::Symbol, key::Symbol)
     #users responsibility to delete data in db before deleting entry
     # !isVariable(dfg, label) && return nothing

src/DistributedFactorGraphs.jl

@@ -233,6 +233,7 @@ export copyGraph!, deepcopyGraph, deepcopyGraph!, buildSubgraph, mergeGraph!
 
 export hasBlobEntry,
     getBlobEntry,
+    getBlobEntryFirst,
     addBlobEntry!,
     updateBlobEntry!,
     deleteBlobEntry!,

src/GraphsDFG/services/GraphsDFG.jl

@@ -373,12 +373,12 @@ end
 function getBiadjacencyMatrix(
     dfg::GraphsDFG;
     solvable::Int = 0,
+    varLabels = listVariables(dfg; solvable = solvable),
+    factLabels = listFactors(dfg; solvable = solvable),
 )::NamedTuple{
     (:B, :varLabels, :facLabels),
     Tuple{Graphs.SparseMatrixCSC, Vector{Symbol}, Vector{Symbol}},
 }
-    varLabels = listVariables(dfg; solvable = solvable)
-    factLabels = listFactors(dfg; solvable = solvable)
     varIndex = [dfg.g.labels[s] for s in varLabels]
     factIndex = [dfg.g.labels[s] for s in factLabels]