Merge pull request #1447 from JuliaRobotics/21Q4/refac/selfact

better selectFactorType

src/DefaultNodeTypes.jl

@@ -4,12 +4,16 @@
 """
     $SIGNATURES
 
-Hacky version to return which factor type to use between two variables of types T1 and T2.
+Return a default factor type between two variables of types T1 and T2.
 
-Pending work on RoME.jl #244 and IIF.jl #1010 and others, after which this will be refactored.
+Notes
+- Most likely used with deconvolution between target variables
 """
-selectFactorType(T1::InstanceType{ContinuousScalar}, T2::InstanceType{ContinuousScalar}) = LinearRelative{1}
+selectFactorType(Modl::Module, T1::Type{<:InferenceVariable}, T2::Type{<:InferenceVariable}) = getfield(Modl, Symbol(T1, T2))
+selectFactorType(T1::Type{<:InferenceVariable}, T2::Type{<:InferenceVariable}) = selectFactorType(typeof(T1()).name.module, T1, T2)
+selectFactorType(T1::Type{<:ContinuousScalar}, T2::Type{<:ContinuousScalar}) = LinearRelative{1}
 selectFactorType(T1::Type{<:ContinuousEuclid{N}}, T2::Type{<:ContinuousEuclid{N}}) where N = LinearRelative{N}
 selectFactorType(T1::InferenceVariable, T2::InferenceVariable) = selectFactorType(typeof(T1), typeof(T2))
 selectFactorType(dfg::AbstractDFG, s1::Symbol, s2::Symbol) = selectFactorType( getVariableType(dfg, s1), getVariableType(dfg, s2) )
 
+#