FactorState -> Recipestate + Recipehyper (#1894)

Co-authored-by: Johannes Terblanche <Affie@users.noreply.github.com>

Author: Affie

IncrementalInference/src/Deprecated.jl

@@ -195,10 +195,6 @@ end
 # _getZDim(fcd::DFG.GenericFunctionNodeData) = _getCCW(fcd) |> _getZDim
 # DFG.getDimension(fct::DFG.GenericFunctionNodeData) = _getZDim(fct)
 
-# function resetData!(vdata::DFG.FunctionNodeData)
-#   error("resetData!(vdata::FunctionNodeData) is deprecated, use resetData!(state::FactorState) instead")
-# end
-
 function sampleTangent(x::ManifoldKernelDensity, p = mean(x))
   error("sampleTangent(x::ManifoldKernelDensity, p) should be replaced by sampleTangent(M<:AbstractManifold, x::ManifoldKernelDensity, p)")
 end

IncrementalInference/src/Serialization/services/DispatchPackedConversions.jl

@@ -21,18 +21,16 @@ function DFG.rebuildFactorCache!(
   # Set up the neighbor data
 
   # Rebuilding the CCW
-  state = DFG.getFactorState(factor)
-  state, solvercache = getDefaultFactorData(
+  _, _, solvercache = getDefaultFactorData(
     dfg,
     neighbors,
     DFG.getObservation(factor);
-    multihypo = state.multihypo,
-    nullhypo = state.nullhypo,
+    multihypo = factor.hyper.multihypo,
+    nullhypo = factor.hyper.nullhypo,
     # special inflation override
-    inflation = state.inflation,
-    eliminated = state.eliminated,
-    potentialused = state.potentialused,
-    # solveInProgress = state.solveInProgress,
+    inflation = factor.hyper.inflation,
+    eliminated = factor.state.eliminated,
+    potentialused = factor.state.potentialused,
     _blockRecursion=_blockRecursionGradients
   )
   #

IncrementalInference/src/parametric/services/ParametricUtils.jl

@@ -146,8 +146,8 @@ function CalcFactorMahalanobis(fg, fct::FactorCompute)
 
   cache = preambleCache(fg, getVariable.(fg, varOrder), getObservation(fct))
 
-  multihypo = DFG.getFactorState(fct).multihypo
-  nullhypo = DFG.getFactorState(fct).nullhypo
+  multihypo = fct.hyper.multihypo
+  nullhypo = fct.hyper.nullhypo
 
   # FIXME, type instability
   if length(multihypo) > 0

IncrementalInference/src/services/BayesNet.jl

@@ -151,15 +151,15 @@ function buildBayesNet!(dfg::AbstractDFG, elimorder::Vector{Symbol}; solvable::I
     vert = DFG.getVariable(dfg, v)
     for fctId in listNeighbors(dfg, vert; solvable = solvable)
       fct = DFG.getFactor(dfg, fctId)
-      if (DFG.getFactorState(fct).eliminated != true)
+      if (fct.state.eliminated != true)
         push!(fi, fctId)
         for sepNode in listNeighbors(dfg, fct; solvable = solvable)
           # TODO -- validate !(sepNode.index in Si) vs. older !(sepNode in Si)
           if sepNode != v && !(sepNode in Si) # Symbol comparison!
             push!(Si, sepNode)
           end
         end
-        DFG.getFactorState(fct).eliminated = true
+        fct.state.eliminated = true
       end
 
       if typeof(_getCCW(fct)) == CommonConvWrapper{GenericMarginal}

IncrementalInference/src/services/FGOSUtils.jl

@@ -409,7 +409,7 @@ function getFactorsAmongVariablesOnly(
     # now check if those factors have already been added
     for fct in prefcts
       vert = DFG.getFactor(dfg, fct)
-      if !DFG.getFactorState(vert).potentialused
+      if !vert.state.potentialused
         push!(almostfcts, fct)
       end
     end

IncrementalInference/src/services/FactorGraph.jl

@@ -716,8 +716,6 @@ function getDefaultFactorData(
   # threadmodel = SingleThreaded,
   eliminated::Bool = false,
   potentialused::Bool = false,
-  edgeIDs = Int[],
-  # solveInProgress = 0,
   inflation::Real = getSolverParams(dfg).inflation,
   _blockRecursion::Bool = false,
   keepCalcFactor::Bool = false,
@@ -742,17 +740,11 @@ function getDefaultFactorData(
     keepCalcFactor,
   )
 
-  state = DFG.FactorState(
-    eliminated,
-    potentialused,
-    multihypo,
-    ccwl.hyporecipe.certainhypo,
-    nullhypo,
-    # solveInProgress,
-    inflation,
-  )
+  state = DFG.Recipestate(; eliminated, potentialused)
+    
+  hyper = DFG.Recipehyper(; nullhypo, multihypo, inflation)
 
-  return state, ccwl
+  return hyper, state, ccwl
 
 end
 
@@ -838,7 +830,7 @@ function DFG.addFactor!(
   _zonedtime(s::DateTime) = ZonedDateTime(s, localzone())
 
   varOrderLabels = Symbol[v.label for v in Xi]
-  state, solvercache = getDefaultFactorData(
+  hyper, state, solvercache = getDefaultFactorData(
     dfg,
     Xi,
     deepcopy(usrfnc);
@@ -854,6 +846,7 @@ function DFG.addFactor!(
     Symbol(namestring),
     varOrderLabels,
     usrfnc,
+    hyper,
     state,
     solvercache;
     tags = Set(union(tags, [:FACTOR])),

IncrementalInference/src/services/JunctionTreeUtils.jl

@@ -869,7 +869,7 @@ function resetData!(vdata::State)
   return nothing
 end
 
-function resetData!(state::DFG.FactorState)
+function resetData!(state::DFG.Recipestate)
   state.eliminated = false
   state.potentialused = false
   return nothing
@@ -886,7 +886,7 @@ function resetFactorGraphNewTree!(dfg::AbstractDFG)
     resetData!(getState(v, :default))
   end
   for f in DFG.getFactors(dfg)
-    resetData!(DFG.getFactorState(f))
+    resetData!(DFG.getRecipestate(f))
   end
   return nothing
 end
@@ -998,13 +998,13 @@ function getCliqFactorsFromFrontals(
     # usefcts = Int[]
     for fctid in ls(fgl, frsym)
       fct = getFactor(fgl, fctid)
-      if !unused || !DFG.getFactorState(fct).potentialused
+      if !unused || !fct.state.potentialused
         loutn = ls(fgl, fctid; solvable = solvable)
         # deal with unary factors
         if length(loutn) == 1
           union!(usefcts, Symbol[Symbol(fct.label);])
           # appendUseFcts!(usefcts, loutn, fct) # , frsym)
-          DFG.getFactorState(fct).potentialused = true
+          fct.state.potentialused = true
         end
         # deal with n-ary factors
         for sep in loutn
@@ -1014,7 +1014,7 @@ function getCliqFactorsFromFrontals(
           insep = sep in allids
           if !inseparator || insep
             union!(usefcts, Symbol[Symbol(fct.label);])
-            DFG.getFactorState(fct).potentialused = true
+            fct.state.potentialused = true
             if !insep
               @debug "cliq=$(cliq.id) adding factor that is not in separator, $sep"
             end
@@ -1061,7 +1061,7 @@ function setCliqPotentials!(
   fcts = map(x -> getFactor(dfg, x), fctsyms)
   getCliqueData(cliq).partialpotential = map(x -> isPartial(x), fcts)
   for fct in fcts
-    DFG.getFactorState(fct).potentialused = true
+    fct.state.potentialused = true
   end
 
   @debug "finding all frontals for down WIP"

IncrementalInference/test/testSaveLoadDFG.jl

@@ -21,12 +21,11 @@ Base.rm(saveFolder*".tar.gz")
 @test symdiff(ls(fg), ls(retDFG)) == []
 @test symdiff(lsf(fg), lsf(retDFG)) == []
 
-@show getFactorState(fg, :x2x3x4f1).multihypo
-@show getFactorState(retDFG, :x2x3x4f1).multihypo
+@show DFG.getRecipehyper(fg, :x2x3x4f1).multihypo
+@show DFG.getRecipehyper(retDFG, :x2x3x4f1).multihypo
 
 # check for match
-@test getFactorState(fg, :x2x3x4f1).multihypo - getFactorState(retDFG, :x2x3x4f1).multihypo |> norm < 1e-10
-@test getFactorState(fg, :x2x3x4f1).certainhypo - getFactorState(retDFG, :x2x3x4f1).certainhypo |> norm < 1e-10
+@test DFG.getRecipehyper(fg, :x2x3x4f1).multihypo - DFG.getRecipehyper(retDFG, :x2x3x4f1).multihypo |> norm < 1e-10
 
 ##
 end
@@ -46,9 +45,8 @@ solveTree!(fg)
 
 #manually change a few fields to test if they are preserved
 fa = getFactor(fg, :x2x3x4f1)
-getFactorState(fa).eliminated = true
-# getFactorState(fa).solveInProgress = 1
-getFactorState(fa).nullhypo = 0.5
+fa.state.eliminated = true
+fa.hyper.nullhypo = 0.5
 
 
 saveFolder = "/tmp/dfg_test"
@@ -62,12 +60,11 @@ Base.rm(saveFolder*".tar.gz")
 @test issetequal(ls(fg), ls(retDFG))
 @test issetequal(lsf(fg), lsf(retDFG))
 
-@show getFactorState(fg, :x2x3x4f1).multihypo
-@show getFactorState(retDFG, :x2x3x4f1).multihypo
+@show DFG.getRecipehyper(fg, :x2x3x4f1).multihypo
+@show DFG.getRecipehyper(retDFG, :x2x3x4f1).multihypo
 
 # check for match
-@test isapprox(getFactorState(fg, :x2x3x4f1).multihypo, getFactorState(retDFG, :x2x3x4f1).multihypo)
-@test isapprox(getFactorState(fg, :x2x3x4f1).certainhypo, getFactorState(retDFG, :x2x3x4f1).certainhypo)
+@test isapprox(DFG.getRecipehyper(fg, :x2x3x4f1).multihypo, DFG.getRecipehyper(retDFG, :x2x3x4f1).multihypo)
 
 
 fb = getFactor(retDFG, :x2x3x4f1)