fix treeProductUp post #459

JuliaRobotics · Sep 22, 2020 · c766e9f · c766e9f
1 parent 9bbb8c5
commit c766e9f
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diff --git a/examples/MultiHypo2Door.jl b/examples/MultiHypo2Door.jl
@@ -97,9 +97,8 @@ spyCliqMat(tree, :x2)
 
 ## specialized debugging
 
-#FIXME Maybe related to #459 `treeProductUp` "UndefVarError: getUpMsgs not defined"
-#FIXME stuff = treeProductUp(fg, tree, :l0, :x0)
-#FIXME plotKDE(manikde!(stuff[1], (:Euclid,)) )
+stuff = treeProductUp(fg, tree, :l0, :x0)
+plotKDE(manikde!(stuff[1], (:Euclid,)) )
 
 # plotTreeProductUp(fg, tree, :x1)
 

diff --git a/src/SolveTree.jl b/src/SolveTree.jl
@@ -606,17 +606,18 @@ function treeProductUp(fg::AbstractDFG,
 
   # get all the incoming (upward) messages from the tree cliques
   # convert incoming messages to Int indexed format (semi-legacy format)
-  upmsgssym = LikelihoodMessage[]
-  for cl in childCliqs(tree, cliq)
-    msgdict = getUpMsgs(cl)
-    dict = Dict{Symbol, TreeBelief}()
-    for (dsy, btd) in msgdict.belief
-      vari = getVariable(fg, dsy)
-      # manis = getSofttype(vari).manifolds
-      dict[dsy] = TreeBelief(btd.val, btd.bw, btd.inferdim, getSofttype(vari))
-    end
-    push!( upmsgssym, LikelihoodMessage(beliefDict=dict) )
-  end
+  # upmsgssym = LikelihoodMessage[]
+  # for cl in childCliqs(tree, cliq)
+  #   msgdict = getUpMsgs(cl)
+  #   dict = Dict{Symbol, TreeBelief}()
+  #   for (dsy, btd) in msgdict.belief
+  #     vari = getVariable(fg, dsy)
+  #     # manis = getSofttype(vari).manifolds
+  #     dict[dsy] = TreeBelief(btd.val, btd.bw, btd.inferdim, getSofttype(vari))
+  #   end
+  #   push!( upmsgssym, LikelihoodMessage(beliefDict=dict) )
+  # end
+  upmsgssym = getMsgsUpChildren(tree, cliq, TreeBelief)
 
   # perform the actual computation
   manis = getSofttype(getVariable(fg, sym)) |> getManifolds