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Replace PackedFactor convert functions with specific function. Two chicken and egg problems, unpack DFGFactor #1424
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Fix this when fixing JuliaRobotics/DistributedFactorGraphs.jl#590 |
we need to maintain the list of exceptions to DFG driver symmetries. In this case, the exception is:
|
Yep, LightDFG is our DFG for solving - it's optimized for this. CGDFG and FileDFG (and ZmqDFG/GraphQLDFG, etc.) are all designed to get data from somewhere and put it into a LightDFG, and then transport solved data back into their respective destination. Those aren't built for solving/etc, to the point that ideally we don't rebuild the factor metadata. |
Added to High Level Req Wiki: https://github.com/JuliaRobotics/Caesar.jl/wiki/High-Level-Requirements |
We should NOT use driving assumption that
Base.convert
API is right way to hydrate DFGFactor (which currently internally rebuilds operational data like CCW).IncrementalInference.jl/src/DispatchPackedConversions.jl
Lines 33 to 55 in 88c0cb4
By assuming empty array
DFGVariable[]
we create two chicken egg problems:IncrementalInference.jl/src/DispatchPackedConversions.jl
Line 87 in 88c0cb4
IncrementalInference.jl/src/FactorGraph.jl
Line 681 in 88c0cb4
The assumption that we can hydrate a factor in a vacuum is false, we do need the connected DFGVariable type information. DFGVariable can however be hydrated in a vacuum.
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