Merge pull request #1029 from JuliaRobotics/maint/4Q20/treebeliefget

Update BeliefTypes.jl

Project.toml

@@ -2,7 +2,7 @@ name = "IncrementalInference"
 uuid = "904591bb-b899-562f-9e6f-b8df64c7d480"
 keywords = ["mm-iSAM", "SLAM", "inference", "sum-product", "belief-propagation"]
 desc = "Implements the multimodal iSAM algorithm."
-version = "0.17.0"
+version = "0.18.0"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -44,7 +44,7 @@ ApproxManifoldProducts = "0.1, 0.2"
 BSON = "0.2"
 Combinatorics = "1.0"
 DataStructures = "0.16, 0.17, 0.18"
-DistributedFactorGraphs = "0.10.9"
+DistributedFactorGraphs = "0.10.9, 0.11"
 Distributions = "0.20, 0.21, 0.22, 0.23, 0.24"
 DocStringExtensions = "0.8, 0.9, 0.10, 1"
 FileIO = "1.0.2, 1.1, 1.2"

src/BeliefTypes.jl

@@ -1,4 +1,6 @@
 
+import DistributedFactorGraphs: getVariableType
+
 """
     CliqStatus
 Clique status message enumerated type with status.
@@ -39,7 +41,8 @@ struct TreeBelief{T <: InferenceVariable}
   val::Array{Float64,2}
   bw::Array{Float64,2}
   inferdim::Float64
-  variableType::T # rename to VariableType, DFG #603 
+  # see DFG #603, variableType defines the domain and manifold as well as group operations for a variable in the factor graph
+  variableType::T
   # TODO -- DEPRECATE
   manifolds::Tuple{Vararg{Symbol}} # NOTE added during #459 effort
   # only populated during up as solvableDims for each variable in clique, #910
@@ -64,6 +67,8 @@ end
 
 TreeBelief(vari::DFGVariable, solveKey::Symbol=:default; solvableDim::Real=0) = TreeBelief( getSolverData(vari, solveKey) , solvableDim)
 
+getVariableType(tb::TreeBelief) = tb.variableType
+
 getManifolds(treeb::TreeBelief) = getManifolds(treeb.variableType)
 
 function compare(t1::TreeBelief, t2::TreeBelief)