Apply suggestions from code review

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
JuliaRobotics · Nov 26, 2024 · ee12b8e · ee12b8e
1 parent d0c259f
commit ee12b8e
Show file tree

Hide file tree

Showing 7 changed files with 40 additions and 11 deletions.
diff --git a/src/DistributedFactorGraphs.jl b/src/DistributedFactorGraphs.jl
@@ -399,7 +399,7 @@ include("weakdeps_prototypes.jl")
 export SkeletonDFGVariable
 const SkeletonDFGVariable = VariableSkeleton
 
-export DFGVariableSummary 
+export DFGVariableSummary
 const DFGVariableSummary = VariableSummary
 
 export DFGVariable

diff --git a/src/FileDFG/services/FileDFG.jl b/src/FileDFG/services/FileDFG.jl
@@ -162,7 +162,8 @@ function loadDFG!(
 
     # FIXME, why is this treated different from VariableSkeleton, VariableSummary?
 
-    usePackedVariable = isa(dfgLoadInto, GraphsDFG) && getTypeDFGVariables(dfgLoadInto) == VariableDFG
+    usePackedVariable =
+        isa(dfgLoadInto, GraphsDFG) && getTypeDFGVariables(dfgLoadInto) == VariableDFG
     # type instability on `variables` as either `::Vector{Variable}` or `::Vector{VariableCompute{<:}}` (vector of abstract)
     variables = @showprogress 1 "loading variables" asyncmap(varFiles) do varFile
         jstr = read("$varFolder/$varFile", String)
@@ -179,7 +180,8 @@ function loadDFG!(
     # Adding variables
     map(v -> addVariable!(dfgLoadInto, v), variables)
 
-    usePackedFactor = isa(dfgLoadInto, GraphsDFG) && getTypeDFGFactors(dfgLoadInto) == FactorDFG
+    usePackedFactor =
+        isa(dfgLoadInto, GraphsDFG) && getTypeDFGFactors(dfgLoadInto) == FactorDFG
 
     # `factors` is not type stable `::Vector{Factor}` or `::Vector{FactorCompute{<:}}` (vector of abstract)
     factors = @showprogress 1 "loading factors" asyncmap(factorFiles) do factorFile

diff --git a/src/GraphsDFG/entities/GraphsDFG.jl b/src/GraphsDFG/entities/GraphsDFG.jl
@@ -175,14 +175,22 @@ end
 
 # GraphsDFG{T}(; kwargs...) where T <: AbstractParams = GraphsDFG{T,VariableCompute,FactorCompute}(;kwargs...)
 function GraphsDFG{T}(
-    g::FactorGraph{Int, VariableCompute, FactorCompute} = FactorGraph{Int, VariableCompute, FactorCompute}();
+    g::FactorGraph{Int, VariableCompute, FactorCompute} = FactorGraph{
+        Int,
+        VariableCompute,
+        FactorCompute,
+    }();
     kwargs...,
 ) where {T <: AbstractParams}
     return GraphsDFG{T, VariableCompute, FactorCompute}(g; kwargs...)
 end
 
 function GraphsDFG(
-    g::FactorGraph{Int, VariableCompute, FactorCompute} = FactorGraph{Int, VariableCompute, FactorCompute}();
+    g::FactorGraph{Int, VariableCompute, FactorCompute} = FactorGraph{
+        Int,
+        VariableCompute,
+        FactorCompute,
+    }();
     solverParams::T = NoSolverParams(),
     kwargs...,
 ) where {T}

diff --git a/src/entities/DFGVariable.jl b/src/entities/DFGVariable.jl
@@ -339,7 +339,11 @@ function VariableCompute(label::Symbol, variableType::InferenceVariable; kwargs.
 end
 
 function VariableCompute(label::Symbol, solverData::VariableNodeData; kwargs...)
-    return VariableCompute(; label, solverDataDict = Dict(:default => solverData), kwargs...)
+    return VariableCompute(;
+        label,
+        solverDataDict = Dict(:default => solverData),
+        kwargs...,
+    )
 end
 
 Base.getproperty(x::VariableCompute, f::Symbol) = begin

diff --git a/src/services/CommonAccessors.jl b/src/services/CommonAccessors.jl
@@ -155,7 +155,10 @@ Related
 
 isSolvable
 """
-function getSolveInProgress(var::Union{VariableCompute, FactorCompute}, solveKey::Symbol = :default)
+function getSolveInProgress(
+    var::Union{VariableCompute, FactorCompute},
+    solveKey::Symbol = :default,
+)
     # Variable
     if var isa VariableCompute
         if haskey(getSolverDataDict(var), solveKey)
@@ -170,7 +173,10 @@ end
 
 #TODO missing set solveInProgress and graph level accessor
 
-function isSolveInProgress(node::Union{VariableCompute, FactorCompute}, solvekey::Symbol = :default)
+function isSolveInProgress(
+    node::Union{VariableCompute, FactorCompute},
+    solvekey::Symbol = :default,
+)
     return getSolveInProgress(node, solvekey) > 0
 end
 

diff --git a/src/services/DFGVariable.jl b/src/services/DFGVariable.jl
@@ -912,7 +912,10 @@ Merges and updates solver and estimate data for a variable (variable can be from
 If the same key is present in another collection, the value for that key will be the value it has in the last collection listed (updated).
 Note: Makes a copy of the estimates and solver data so that there is no coupling between graphs.
 """
-function mergeVariableSolverData!(destVariable::VariableCompute, sourceVariable::VariableCompute)
+function mergeVariableSolverData!(
+    destVariable::VariableCompute,
+    sourceVariable::VariableCompute,
+)
     # We don't know which graph this came from, must be copied!
     merge!(destVariable.solverDataDict, deepcopy(sourceVariable.solverDataDict))
     return destVariable
@@ -982,7 +985,11 @@ end
 Add a new PPE entry from a deepcopy of the source variable PPE.
 NOTE: Copies the PPE.
 """
-function addPPE!(dfg::AbstractDFG, sourceVariable::VariableCompute, ppekey::Symbol = :default)
+function addPPE!(
+    dfg::AbstractDFG,
+    sourceVariable::VariableCompute,
+    ppekey::Symbol = :default,
+)
     return addPPE!(dfg, sourceVariable.label, deepcopy(getPPE(sourceVariable, ppekey)))
 end
 

diff --git a/test/compareTests.jl b/test/compareTests.jl
@@ -39,7 +39,9 @@ v3 = VariableCompute(:x2, TestVariableType2())
 v2.solvable = 0
 @test !(v1 == v2)
 @test !(v1 == v3)
-@test !(VariableCompute(:x1, TestVariableType1()) == VariableCompute(:x1, TestVariableType2()))
+@test !(
+    VariableCompute(:x1, TestVariableType1()) == VariableCompute(:x1, TestVariableType2())
+)
 
 # GenericFunctionNodeData
 gfnd1 = GenericFunctionNodeData(;