Cleanup defVariable and add getPointType

[Affie]

• preparation for more manifold stuff
• functions moved here from iif
• add getPointType

[dehann]

Looks good, we must just do the integration testing with downstream. Thanks for fixing the tests too!

[Affie]

Should work with these changes: JuliaRobotics/IncrementalInference.jl#1275

I haven't tested rome

[dehann]

julia> using DistributedFactorGraphs

julia> using IncrementalInference
[ Info: Precompiling IncrementalInference [904591bb-b899-562f-9e6f-b8df64c7d480]
[ Info: KernelDensityEstimate.FORCE_EVAL_DIRECT = true
ERROR: LoadError: LoadError: LoadError: LoadError: MethodError: no method matching var"@defVariable"(::LineNumberNode, ::Module, ::Symbol, ::Expr)
Closest candidates are:
  var"@defVariable"(::LineNumberNode, ::Module, ::Any, ::Any, ::Any) at /home/dehann/.julia/dev/DistributedFactorGraphs/src/services/DFGVariable.jl:89
Stacktrace:
  [1] #macroexpand#50
    @ ./expr.jl:112 [inlined]
  [2] macroexpand
    @ ./expr.jl:111 [inlined]
  [3] docm(source::LineNumberNode, mod::Module, meta::Any, ex::Any, define::Bool) (repeats 2 times)
    @ Base.Docs ./docs/Docs.jl:537
  [4] (::DocStringExtensions.var"#29#30"{typeof(DocStringExtensions.template_hook)})(::LineNumberNode, ::Vararg{Any, N} where N)
    @ DocStringExtensions ~/.julia/packages/DocStringExtensions/9Ot5N/src/templates.jl:11
  [5] var"@doc"(__source__::LineNumberNode, __module__::Module, x::Vararg{Any, N} where N)
    @ Core ./boot.jl:508
  [6] include(mod::Module, _path::String)
    @ Base ./Base.jl:386
  [7] include(x::String)
    @ IncrementalInference ~/.julia/dev/IncrementalInference/src/IncrementalInference.jl:1
  [8] top-level scope
    @ ~/.julia/dev/IncrementalInference/src/IncrementalInference.jl:427
  [9] include
    @ ./Base.jl:386 [inlined]
 [10] include_package_for_output(pkg::Base.PkgId, input::String, depot_path::Vector{String}, dl_load_path::Vector{String}, load_path::Vector{String}, concrete_deps::Vector{Pair{Base.PkgId, UInt64}}, source::Nothing)
    @ Base ./loading.jl:1213
 [11] top-level scope
    @ none:1
 [12] eval
    @ ./boot.jl:360 [inlined]
 [13] eval(x::Expr)
    @ Base.MainInclude ./client.jl:446
 [14] top-level scope
    @ none:1
in expression starting at /home/dehann/.julia/dev/IncrementalInference/src/Variables/DefaultVariables.jl:23
in expression starting at /home/dehann/.julia/dev/IncrementalInference/src/Variables/DefaultVariables.jl:15
in expression starting at /home/dehann/.julia/dev/IncrementalInference/src/Variables/DefaultVariables.jl:15
in expression starting at /home/dehann/.julia/dev/IncrementalInference/src/IncrementalInference.jl:1
ERROR: Failed to precompile IncrementalInference [904591bb-b899-562f-9e6f-b8df64c7d480] to /home/dehann/.julia/compiled/v1.6/IncrementalInference/jl_alznRu.
Stacktrace:
 [1] error(s::String)
   @ Base ./error.jl:33
 [2] compilecache(pkg::Base.PkgId, path::String, internal_stderr::Base.TTY, internal_stdout::Base.TTY)
   @ Base ./loading.jl:1360
 [3] compilecache(pkg::Base.PkgId, path::String)
   @ Base ./loading.jl:1306
 [4] _require(pkg::Base.PkgId)
   @ Base ./loading.jl:1021
 [5] require(uuidkey::Base.PkgId)
   @ Base ./loading.jl:914
 [6] require(into::Module, mod::Symbol)
   @ Base ./loading.jl:901

Latest branches for DFG (this 775) and IIF (1275):

(@v1.6) pkg> st DistributedFactorGraphs IncrementalInference
      Status `~/.julia/environments/v1.6/Project.toml`
  [b5cc3c7e] DistributedFactorGraphs v0.14.5 `~/.julia/dev/DistributedFactorGraphs`
  [904591bb] IncrementalInference v0.24.4 `~/.julia/dev/IncrementalInference`

[dehann]

I'm busy adding the point types on IIF 1275

[Affie]

I forgot to commit @defVariable changes, just did it now. JuliaRobotics/IncrementalInference.jl#1275 (comment)

[Affie]

I figured we first update DFG and iif with the new Vector{T} and then look at RoME, as not to break all the masters at once.