Merge pull request #811 from JuliaRobotics/master

Release 0.16.2

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.16.1"
+version = "0.16.2"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/CloudGraphsDFG/services/CloudGraphsDFG.jl

@@ -360,9 +360,10 @@ end
 #Alias
 deleteVariable!(dfg::CloudGraphsDFG, variable::DFGVariable) = deleteVariable!(dfg, variable.label)
 
-function deleteFactor!(dfg::CloudGraphsDFG, label::Symbol)::DFGFactor
-    factor = getFactor(dfg, label)
-    if factor == nothing
+# return ::DFGFactor, or workaround ::Nothing, #809
+function deleteFactor!(dfg::CloudGraphsDFG, label::Symbol; suppressGetFactor::Bool=false)
+    factor = suppressGetFactor ? nothing : getFactor(dfg, label)
+    if factor === nothing && !suppressGetFactor
         error("Unable to retrieve the ID for factor '$label'. Please check your connection to the database and that the factor exists.")
     end
     # Perform detach+deletion
@@ -378,7 +379,7 @@ function deleteFactor!(dfg::CloudGraphsDFG, label::Symbol)::DFGFactor
 end
 
 # Alias
-deleteFactor!(dfg::CloudGraphsDFG, factor::DFGFactor)::DFGFactor = deleteFactor!(dfg, factor.label)
+deleteFactor!(dfg::CloudGraphsDFG, factor::DFGFactor; suppressGetFactor::Bool=false) = deleteFactor!(dfg, factor.label, suppressGetFactor=suppressGetFactor)
 
 function getVariables(dfg::CloudGraphsDFG, regexFilter::Union{Nothing, Regex}=nothing; tags::Vector{Symbol}=Symbol[], solvable::Int=0)::Vector{DFGVariable}
     variableIds = listVariables(dfg, regexFilter, tags=tags, solvable=solvable)
@@ -980,4 +981,4 @@ function SkeletonDFG(cfg::CloudGraphsDFG)
     addVariable!.(sfg, _getSkeletonVariables(cfg))
     addFactor!.(sfg, _getSkeletonFactors(cfg))
     return sfg
-end
+end

src/LightDFG/services/LightDFG.jl

@@ -146,7 +146,7 @@ function deleteVariable!(dfg::LightDFG, label::Symbol)#::Tuple{AbstractDFGVariab
     return variable, neigfacs
 end
 
-function deleteFactor!(dfg::LightDFG, label::Symbol)::AbstractDFGFactor
+function deleteFactor!(dfg::LightDFG, label::Symbol; suppressGetFactor::Bool=false)::AbstractDFGFactor
     if !haskey(dfg.g.factors, label)
         error("Factor label '$(label)' does not exist in the factor graph")
     end

src/services/AbstractDFG.jl

@@ -285,7 +285,7 @@ end
     $(SIGNATURES)
 Delete a DFGFactor from the DFG using its label.
 """
-function deleteFactor!(dfg::G, label::Symbol) where G <: AbstractDFG
+function deleteFactor!(dfg::G, label::Symbol; suppressGetFactor::Bool=false) where G <: AbstractDFG
     error("deleteFactors not implemented for $(typeof(dfg))")
 end
 
@@ -449,8 +449,8 @@ end
     $(SIGNATURES)
 Delete the referened DFGFactor from the DFG.
 """
-function deleteFactor!(dfg::G, factor::F) where {G <: AbstractDFG, F <: AbstractDFGFactor}
-    return deleteFactor!(dfg, factor.label)
+function deleteFactor!(dfg::G, factor::F; suppressGetFactor::Bool=false) where {G <: AbstractDFG, F <: AbstractDFGFactor}
+    return deleteFactor!(dfg, factor.label, suppressGetFactor=suppressGetFactor)
 end
 
 # Alias - bit ridiculous but know it'll come up at some point. Does existential and type check.