makeSolverData!
dehann
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| 1 | 1 | ||
| 2 | + | ||
| 3 | + | """ |
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| 4 | + | $SIGNATURES |
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| 5 | + | ||
| 6 | + | For variables in `varList` check and if necessary make solverData objects for both `:default` and `:parametric` solveKeys. |
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| 7 | + | ||
| 8 | + | Notes |
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| 9 | + | - Part of solving JuliaRobotics/IncrementalInference.jl issue 1637 |
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| 10 | + | ||
| 11 | + | See also: [`doautoinit!`](@ref) |
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| 12 | + | """ |
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| 13 | + | function makeSolverData!( |
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| 14 | + | dfg::AbstractDFG; |
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| 15 | + | solvable = 1, |
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| 16 | + | varList::AbstractVector{Symbol} = ls(dfg; solvable) |
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| 17 | + | ) |
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| 18 | + | count = 0 |
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| 19 | + | for vl in varList |
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| 20 | + | v = getVariable(dfg,vl) |
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| 21 | + | varType = getVariableType(v) |> IIF._variableType |
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| 22 | + | vsolveKeys = listSolveKeys(dfg,vl) |
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| 23 | + | if !(:default in vsolveKeys) |
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| 24 | + | IIF.setDefaultNodeData!(v, 0, getSolverParams(dfg).N, getDimension(varType); initialized=false, varType) # dodims |
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| 25 | + | count += 1 |
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| 26 | + | end |
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| 27 | + | if !(:parametric in vsolveKeys) |
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| 28 | + | # global doinit = true |
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| 29 | + | IIF.setDefaultNodeDataParametric!(v, varType, initialized=false) |
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| 30 | + | count += 1 |
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| 31 | + | end |
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| 32 | + | end |
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| 33 | + | ||
| 34 | + | return count |
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| 35 | + | end |
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| 36 | + | ||
| 2 | 37 | """ |
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| 3 | 38 | $SIGNATURES |
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| 4 | 39 |
| Files | Coverage |
|---|---|
| src | 77.04% |
| Project Totals (73 files) | 77.04% |
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