CalcFactor -> CalcFactorNormSq and Abstract

Author: Affie

src/ExportAPI.jl

@@ -236,7 +236,6 @@ export CSMHistory,
 
   # Factor operational memory
   CommonConvWrapper,
-  AbstractCalcFactor,
   CalcFactor,
   getCliqVarInitOrderUp,
   getCliqNumAssocFactorsPerVar,

src/Factors/Circular.jl

@@ -21,7 +21,7 @@ CircularCircular(::UniformScaling) = CircularCircular(Normal())
 
 DFG.getManifold(::CircularCircular) = RealCircleGroup()
 
-function (cf::AbstractCalcFactor{<:CircularCircular})(X, p, q)
+function (cf::CalcFactor{<:CircularCircular})(X, p, q)
   #
   M = cf.manifold # getManifold(cf.factor)
   return distanceTangent2Point(M, X, p, q)

src/Factors/DefaultPrior.jl

@@ -14,7 +14,7 @@ getManifold(pr::Prior) = TranslationGroup(getDimension(pr.Z))
 # getSample(cf::CalcFactor{<:Prior}) = rand(cf.factor.Z)
 
 # basic default
-(s::AbstractCalcFactor{<:Prior})(z, x1) = z .- x1
+(s::CalcFactor{<:Prior})(z, x1) = z .- x1
 
 ## packed types are still developed by hand.  Future versions would likely use a @packable macro to write Protobuf safe versions of factors
 

src/Factors/EuclidDistance.jl

@@ -17,7 +17,7 @@ getManifold(::InstanceType{EuclidDistance}) = TranslationGroup(1)
 getDimension(::InstanceType{<:EuclidDistance}) = 1
 
 # new and simplified interface for both nonparametric and parametric
-(s::AbstractCalcFactor{<:EuclidDistance})(z, x1, x2) = z .- norm(x2 .- x1)
+(s::CalcFactor{<:EuclidDistance})(z, x1, x2) = z .- norm(x2 .- x1)
 
 function Base.convert(::Type{<:MB.AbstractManifold}, ::InstanceType{EuclidDistance})
   return Manifolds.TranslationGroup(1)

src/Factors/LinearRelative.jl

@@ -39,7 +39,7 @@ getManifold(::InstanceType{LinearRelative{N}}) where {N} = getManifold(Continuou
 getDimension(::InstanceType{LinearRelative{N}}) where {N} = N
 
 # new and simplified interface for both nonparametric and parametric
-function (s::AbstractCalcFactor{<:LinearRelative})(z, x1, x2)
+function (s::CalcFactor{<:LinearRelative})(z, x1, x2)
   # TODO convert to distance(distance(x2,x1),z) # or use dispatch on `-` -- what to do about `.-`
   # if s._sampleIdx < 5
   #   @info "LinearRelative" s._sampleIdx "$z" "$x1" "$x2" s.solvefor getLabel.(s.fullvariables)

src/Factors/MsgPrior.jl

@@ -33,7 +33,7 @@ getManifold(mp::MsgPrior{<:ManifoldKernelDensity}) = mp.Z.manifold
 getManifold(mp::MsgPrior) = mp.M
 
 #FIXME this will not work on manifolds
-(cfo::AbstractCalcFactor{<:MsgPrior})(z, x1) = z .- x1
+(cfo::CalcFactor{<:MsgPrior})(z, x1) = z .- x1
 
 Base.@kwdef struct PackedMsgPrior <: AbstractPackedFactor
   Z::PackedSamplableBelief

src/entities/CalcFactor.jl

@@ -2,7 +2,8 @@
 abstract type AbstractMaxMixtureSolver end
 
 
-abstract type AbstractCalcFactor{T<:AbstractFactor} end
+abstract type CalcFactor{T<:AbstractFactor} end
+
 
 """
 $TYPEDEF
@@ -23,18 +24,19 @@ end
 
 DevNotes
 - Follow the Github project in IIF to better consolidate CCW FMD CPT CF CFM
-
+- TODO CalcFactorNormSq is a step towards having a dedicated structure for non-parametric solve.
+  CalcFactorNormSq will calculate the Norm Squared of the factor.
 Related 
 
 [`CalcFactorMahalanobis`](@ref), [`CommonConvWrapper`](@ref)
 """
-struct CalcFactor{
+struct CalcFactorNormSq{
   FT <: AbstractFactor, 
   X, 
   C, 
   VT <: Tuple, 
   M <: AbstractManifold
-} <: AbstractCalcFactor{FT}
+} <: CalcFactor{FT}
   """ the interface compliant user object functor containing the data and logic """
   factor::FT
   """ what is the sample (particle) id for which the residual is being calculated """
@@ -56,7 +58,15 @@ struct CalcFactor{
   manifold::M
 end
 
-
+#TODO deprecate after CalcFactor is updated to CalcFactorNormSq
+function CalcFactor(args...; kwargs...)
+  Base.depwarn(
+    "`CalcFactor` changed to an abstract type, use CalcFactorNormSq, CalcFactorMahalanobis, or CalcFactorResidual",
+    :CalcFactor
+  )
+  
+  CalcFactorNormSq(args...; kwargs...)
+end
 
 """
 $TYPEDEF
@@ -75,7 +85,7 @@ struct CalcFactorMahalanobis{
   D,
   L,
   S <: Union{Nothing, AbstractMaxMixtureSolver}
-} <: AbstractCalcFactor{FT}
+} <: CalcFactor{FT}
   faclbl::Symbol
   factor::FT
   cache::C
@@ -94,7 +104,7 @@ struct CalcFactorResidual{
   P,
   MEAS <: AbstractArray,
   N
-} <: AbstractCalcFactor{FT}
+} <: CalcFactor{FT}
   faclbl::Symbol
   factor::FT
   cache::C