ccw comments, found huge bug evalPotSpec dupl

src/entities/FactorOperationalMemory.jl

@@ -103,17 +103,19 @@ mutable struct CommonConvWrapper{
   """ dummy cache value to be deep copied later for each of the CalcFactor instances """
   dummyCache::CT
   # derived config parameters for this factor
-  """ common usage manifold definition for this factor """
+  """ Factor manifold definition for frequent use (not the variables manifolds) """
   manifold::AM
   """ Which dimensions does this factor influence.  Sensitive (mutable) to both which 'solvefor index' variable and whether the factor is partial dimension """
   partialDims::Vector{<:Integer}
   """ is this a partial constraint as defined by the existance of factor field `.partial::Tuple` """
   partial::Bool
-  """ general setup of factor dimensions"""
+  """ coordinate dimension size of current target variable (see .fullvariables[.varidx]), TODO remove once only use under AbstractRelativeRoots is deprecated or resolved """
   xDim::Int
+  """ coordinate dimension size of factor, same as manifold_dimension(.manifold) """
   zDim::Int
+  """ probability that this factor is wholly incorrect and should be ignored during solving """
   nullhypo::Float64
-  """ inflationSpread particular to this factor """
+  """ inflationSpread particular to this factor (by how much to dispurse the belief initial values before numerical optimization is run).  Analogous to stochastic search """
   inflation::Float64
   # multihypo specific field containers for recipe of hypotheses to compute
   """ multi hypothesis settings #NOTE no need for a parameter as type is known from `parseusermultihypo` """
@@ -125,7 +127,8 @@ mutable struct CommonConvWrapper{
   # buffers and indices to point numerical computations to specific memory locations
   """ user defined measurement values for each approxConv operation
       FIXME make type stable, JT should now be type stable if rest works.
-      SUPER IMPORTANT, if prior=>point or relative=>tangent, see #1661 """
+      SUPER IMPORTANT, if prior=>point or relative=>tangent, see #1661 
+      can be a Vector{<:Tuple} or more direct Vector{<: pointortangenttype} """
   measurement::Vector{MT}
   """ which index is being solved for in params? """
   varidx::Int

src/services/CalcFactor.jl

@@ -334,6 +334,7 @@ function _setCCWDecisionDimsConv!(
   ccwl.partialDims = if ccwl.partial
     Int[ccwl.usrfnc!.partial...]
   else
+    # NOTE this is the target variable dimension (not factor manifold dimension) 
     Int[1:(ccwl.xDim)...]
   end
 
@@ -442,7 +443,7 @@ function _prepCCW(
   measurement = Vector{elT}()
 
   # partialDims are sensitive to both which solvefor variable index and whether the factor is partial
-  partial = hasfield(T, :partial)
+  partial = hasfield(T, :partial) # FIXME, use isPartial function instead
   partialDims = if partial
     Int[usrfnc.partial...]
   else
@@ -503,6 +504,7 @@ function _updateCCW!(
   Xi::AbstractVector{<:DFGVariable},
   solvefor::Symbol,
   N::Integer;
+  measurement = [],
   needFreshMeasurements::Bool = true,
   solveKey::Symbol = :default,
 ) where {F <: AbstractFactor}
@@ -522,6 +524,7 @@ function _updateCCW!(
   # some better consolidate is needed
   # ccwl.vartypes = varTypes
   # FIXME ON FIRE, what happens if this is a partial dimension factor?  See #1246
+  # FIXME, confirm this is hypo sensitive selection from Xi, better to use double indexing for clarity getDimension(ccw.fullvariables[hypoidx[sfidx]])
   ccwl.xDim = getDimension(getVariableType(Xi[sfidx]))
   # TODO maybe refactor new type higher up?
 
@@ -546,6 +549,8 @@ function _updateCCW!(
   if needFreshMeasurements
     # TODO refactor
     ccwl.measurement = sampleFactor(cf, maxlen)
+  elseif 0 < length(measurement) 
+    ccwl.measurement = measurement
   end
 
   # set each CPT

src/services/EvalFactor.jl

@@ -334,14 +334,10 @@ function evalPotentialSpecific(
   ccwl::CommonConvWrapper{T},
   solvefor::Symbol,
   T_::Type{<:AbstractRelative},
-  measurement::AbstractVector = Tuple[];
-  needFreshMeasurements::Bool = true,
+  measurement::AbstractVector = Tuple[]; # TODO make this a concrete type
+  needFreshMeasurements::Bool = true,    # superceeds over measurement
   solveKey::Symbol = :default,
-  N::Int = if 0 < length(measurement)
-    length(measurement)
-  else
-    maximum(Npts.(getBelief.(Xi, solveKey)))
-  end,
+  N::Int = 0 < length(measurement) ? length(measurement) : maximum(Npts.(getBelief.(Xi, solveKey))),
   spreadNH::Real = 3.0,
   inflateCycles::Int = 3,
   nullSurplus::Real = 0,
@@ -353,12 +349,12 @@ function evalPotentialSpecific(
 
   # Prep computation variables
   # NOTE #1025, should FMD be built here...
-  sfidx, maxlen = _updateCCW!(ccwl, Xi, solvefor, N; needFreshMeasurements, solveKey)
-  # check for user desired measurement values
-  if 0 < length(measurement)
-    # @info "HERE" typeof(ccwl.measurement) typeof(measurement)
-    ccwl.measurement = measurement
-  end
+  # add user desired measurement values if 0 < length
+  sfidx, maxlen = _updateCCW!(ccwl, Xi, solvefor, N; solveKey, needFreshMeasurements, measurement)
+  # if 0 < length(measurement)
+  #   # @info "HERE" typeof(ccwl.measurement) typeof(measurement)
+  #   ccwl.measurement = measurement
+  # end
 
   # Check which variables have been initialized
   isinit = map(x -> isInitialized(x), Xi)
@@ -394,6 +390,7 @@ function evalPotentialSpecific(
   ipc = ones(getDimension(Xi[sfidx]))
   if isPartial(ccwl)
     # FIXME this is a workaround until better _calcIPCRelative can be used
+    # TODO consolidate to common usage e.g. getPartialDims(ccwl)
     msk_ = setdiff(1:length(ipc), ccwl.usrfnc!.partial)
     for _i in msk_
       ipc[_i] = 0.0
@@ -414,11 +411,11 @@ function evalPotentialSpecific(
   measurement::AbstractVector = Tuple[];
   needFreshMeasurements::Bool = true,
   solveKey::Symbol = :default,
-  N::Int = length(measurement),
-  dbg::Bool = false,
+  N::Int = 0 < length(measurement) ? length(measurement) : maximum(Npts.(getBelief.(Xi, solveKey))),
   spreadNH::Real = 3.0,
   inflateCycles::Int = 3,
   nullSurplus::Real = 0,
+  dbg::Bool = false,
   skipSolve::Bool = false,
   _slack = nothing,
 ) where {T <: AbstractFactor}

src/services/NumericalCalculations.jl

@@ -18,6 +18,7 @@ function _checkErrorCCWNumerics(
   testshuffle::Bool = false,
 ) where {N_, F <: AbstractRelativeRoots, S, T}
   #
+  # error("<:AbstractRelativeRoots is obsolete, use one of the other <:AbstractRelative types instead.")
   # @info "ccwl zDim and xDim" ccwl.zDim ccwl.xDim
   if testshuffle || ccwl.partial || (!ccwl.partial && ccwl.zDim < ccwl.xDim)
     error(