Merge pull request #14 from NavAbility/13_UpgradeDFG18

13 upgrade dfg18

Author: jim-hill-r

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "navabilitysdk",
-  "version": "0.2.0",
+  "version": "0.3.0",
   "description": "NavAbility SDK: Access NavAbility Cloud factor graph features from JavaScript. Note that this SDK and the related API are still in development. Please let us know if you have any issues at info@navability.io.",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",

package.json

@@ -1,4 +1,4 @@
-const DFG_VERSION = '0.17.1';
+const DFG_VERSION = '0.18.0';
 const PI = 3.14159;
 
 export enum FactorType {
@@ -23,10 +23,10 @@ export type Factor = {
   label: string;
   nstime: string;
   fnctype: string;
-  _variableOrderSymbols: string;
-  data: string;
+  _variableOrderSymbols: string[];
+  data: FactorData;
   solvable: number;
-  tags: string;
+  tags: string[];
   timestamp: string;
   _version: string;
 };
@@ -47,7 +47,11 @@ function InitializeFactorData(): FactorData {
 
 export function PriorPose2Data(xythetaPrior = [0.0, 0.0, 0.0], xythetaCovars = [0.01, 0.01, 0.01]): FactorData {
   const fnc = {
-    str: `FullNormal(\ndim: 3\nμ: [${xythetaPrior[0]}, ${xythetaPrior[1]}, ${xythetaPrior[2]}]\nΣ: [${xythetaCovars[0]} 0.0 0.0; 0.0 ${xythetaCovars[1]} 0.0; 0.0 0.0 ${xythetaCovars[2]}])`,
+    Z: {
+      _type: 'IncrementalInference.PackedFullNormal',
+      mu: xythetaPrior,
+      cov: [xythetaCovars[0], 0.0, 0.0, 0.0, xythetaCovars[1], 0.0, 0.0, 0.0, xythetaCovars[2]],
+    },
   };
   const data = InitializeFactorData();
   data.fnc = fnc;
@@ -57,9 +61,11 @@ export function PriorPose2Data(xythetaPrior = [0.0, 0.0, 0.0], xythetaCovars = [
 
 export function Pose2Pose2Data(mus = [1, 0, 0.3333 * PI], sigmas = [0.01, 0.01, 0.01]): FactorData {
   const fnc = {
-    datastr: `FullNormal(\ndim: 3\nμ: [${mus.join(', ')}]\nΣ: [${sigmas[0]} 0.0 0.0; 0.0 ${sigmas[1]} 0.0; 0.0 0.0 ${
-      sigmas[2]
-    }]\n)`,
+    Z: {
+      _type: 'IncrementalInference.PackedFullNormal',
+      mu: mus,
+      cov: [sigmas[0], 0.0, 0.0, 0.0, sigmas[1], 0.0, 0.0, 0.0, sigmas[2]],
+    },
   };
   const data = InitializeFactorData();
   data.fnc = fnc;
@@ -68,14 +74,14 @@ export function Pose2Pose2Data(mus = [1, 0, 0.3333 * PI], sigmas = [0.01, 0.01,
 }
 
 export function Pose2AprilTag4CornersData(
-  id: string,
-  corners: any,
-  homography: any,
-  K = [300.0, 0.0, 0.0, 0.0, 300.0, 0.0, 180.0, 120.0, 1.0],
-  taglength = 0.25,
+  id: number,
+  corners: number[],
+  homography: number[],
+  K: number[] = [300.0, 0.0, 0.0, 0.0, 300.0, 0.0, 180.0, 120.0, 1.0],
+  taglength: number = 0.25,
 ): FactorData {
   const fnc = {
-    mimeType: '/application/JuliaLang/PackedPose2AprilTag4Corners',
+    _type: '/application/JuliaLang/PackedPose2AprilTag4Corners',
     corners,
     homography,
     K,
@@ -102,10 +108,10 @@ export function Factor(
     label,
     nstime: '0',
     fnctype: fncType,
-    _variableOrderSymbols: JSON.stringify(variableOrderSymbols),
-    data: JSON.stringify(data),
+    _variableOrderSymbols: variableOrderSymbols,
+    data,
     solvable: 1,
-    tags: JSON.stringify(tags),
+    tags,
     timestamp,
     _version: DFG_VERSION,
   };