JuliaRobotics / IncrementalInference.jl
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"""
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    $SIGNATURES
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For variables in `varList` check and if necessary make solverData objects for both `:default` and `:parametric` solveKeys. 
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Notes
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- Part of solving JuliaRobotics/IncrementalInference.jl issue 1637
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See also: [`doautoinit!`](@ref)
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"""
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function makeSolverData!(
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  dfg::AbstractDFG;
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  solvable = 1,
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  varList::AbstractVector{Symbol} = ls(dfg; solvable)
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)
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  count = 0
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  for vl in varList
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    v = getVariable(dfg,vl)
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    varType = getVariableType(v) |> IIF._variableType
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    vsolveKeys = listSolveKeys(dfg,vl)
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    if !(:default in vsolveKeys)
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        IIF.setDefaultNodeData!(v, 0, getSolverParams(dfg).N, getDimension(varType); initialized=false, varType) # dodims
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        count += 1
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    end
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    if !(:parametric in vsolveKeys)
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        # global doinit = true
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        IIF.setDefaultNodeDataParametric!(v, varType, initialized=false)
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        count += 1
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    end
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  end
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  return count
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end
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"""
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    $SIGNATURES
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