JuliaRobotics / IncrementalInference.jl
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"""
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    $SIGNATURES
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Hacky version to return which factor type to use between two variables of types T1 and T2.
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Return a default factor type between two variables of types T1 and T2.
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Pending work on RoME.jl #244 and IIF.jl #1010 and others, after which this will be refactored.
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Notes
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- Most likely used with deconvolution between target variables
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"""
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selectFactorType(T1::InstanceType{ContinuousScalar}, T2::InstanceType{ContinuousScalar}) = LinearRelative{1}
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selectFactorType(Modl::Module, T1::Type{<:InferenceVariable}, T2::Type{<:InferenceVariable}) = getfield(Modl, Symbol(T1, T2))
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selectFactorType(T1::Type{<:InferenceVariable}, T2::Type{<:InferenceVariable}) = selectFactorType(typeof(T1()).name.module, T1, T2)
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selectFactorType(T1::Type{<:ContinuousScalar}, T2::Type{<:ContinuousScalar}) = LinearRelative{1}
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selectFactorType(T1::Type{<:ContinuousEuclid{N}}, T2::Type{<:ContinuousEuclid{N}}) where N = LinearRelative{N}
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selectFactorType(T1::InferenceVariable, T2::InferenceVariable) = selectFactorType(typeof(T1), typeof(T2))
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selectFactorType(dfg::AbstractDFG, s1::Symbol, s2::Symbol) = selectFactorType( getVariableType(dfg, s1), getVariableType(dfg, s2) )
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#
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Project Totals (67 files) 77.17%

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