refactor: move types into their own files

gbp-rs/Cargo.toml

@@ -10,5 +10,9 @@ rust-version.workspace = true
 
 [dependencies]
 nalgebra = "0.32.3"
+nutype = "0.4.0"
+# probability = "0.20.3"
 rayon = "1.8.1"
 rstest = "0.18.2"
+rand = "0.8.5"
+rand_distr = "0.4.3"

gbp-rs/examples/1d_line_fitting.rs

@@ -0,0 +1,10 @@
+/// Reimplementation of the 1D line fitting example from https://gaussianbp.github.io/
+/// jupyter notebook: https://colab.research.google.com/drive/1-nrE95X4UC9FBLR0-cTnsIP_XhA_PZKW?usp=sharing#scrollTo=kiAOHWV4uMGY
+
+use gbp_rs::prelude::*;
+
+fn main() {
+
+    let mut fg = FactorGraph::new();
+
+}

gbp-rs/src/factorgraph/factor.rs

@@ -0,0 +1,26 @@
+
+
+
+pub trait Factor {}
+
+#[derive(Debug)]
+struct DefaultFactor;
+#[derive(Debug)]
+struct DynamicFactor;
+#[derive(Debug)]
+struct InterRobotFactor;
+#[derive(Debug)]
+struct ObstacleFactor;
+
+impl Factor for DefaultFactor {}
+impl Factor for DynamicFactor {}
+impl Factor for InterRobotFactor {}
+impl Factor for ObstacleFactor {}
+
+#[derive(Debug)]
+enum FactorType {
+    Default(DefaultFactor),
+    Dynamic(DynamicFactor),
+    InterRobot(InterRobotFactor),
+    Ocstacle(ObstacleFactor),
+}

gbp-rs/src/factorgraph/factorgraph.rs

@@ -0,0 +1,39 @@
+
+use crate::factorgraph::factor::Factor;
+use crate::factorgraph::variable::Variable;
+
+/// A factor graph is a bipartite graph representing the factorization of a function.
+/// It is composed of two types of nodes: factors and variables.
+/// 
+pub struct FactorGraph {
+    factors: Vec<Box<dyn Factor>>,
+    variables: Vec<Variable>,
+}
+
+
+impl FactorGraph {
+    pub fn new() -> Self {
+        Self {
+            factors: Vec::new(),
+            variables: Vec::new(),
+        }
+    }
+
+    pub fn add_factor(&mut self, factor: Box<dyn Factor>) {
+        self.factors.push(factor);
+    }
+
+    pub fn add_variable(&mut self, variable: Variable) {
+        self.variables.push(variable);
+    }
+
+    pub fn update_all_beliefs(&mut self) {
+        // for variable in self.variables.iter_mut() {
+        //     variable.update_belief();
+        // }
+        todo!()
+        // for factor in self.factors.iter_mut() {
+        //     factor.update_belief();
+        // }
+    }
+}

gbp-rs/src/factorgraph/message.rs

@@ -0,0 +1,45 @@
+// enum MsgPassingMode {EXTERNAL, INTERNAL};
+
+/// Ways message passing can be performed
+#[derive(Debug)]
+enum MessagePassingMode {
+    /// Between two different robots/factorgraphs
+    External,
+    /// Within a robot/factorgraph
+    Internal,
+}
+// Eigen::VectorXd eta;
+// Eigen::MatrixXd lambda;
+// Eigen::VectorXd mu;
+
+#[derive(Debug)]
+pub struct Message {
+    pub eta: nalgebra::DVector<f64>,
+    pub lambda: nalgebra::DMatrix<f64>,
+    pub mu: nalgebra::DVector<f64>,
+}
+
+// Implement addtion and subtraction for messages
+impl std::ops::Add for Message {
+    type Output = Self;
+
+    fn add(self, other: Self) -> Self {
+        Self {
+            eta: self.eta + other.eta,
+            lambda: self.lambda + other.lambda,
+            mu: self.mu + other.mu,
+        }
+    }
+}
+
+impl std::ops::Sub for Message {
+    type Output = Self;
+
+    fn sub(self, other: Self) -> Self {
+        Self {
+            eta: self.eta - other.eta,
+            lambda: self.lambda - other.lambda,
+            mu: self.mu - other.mu,
+        }
+    }
+}

gbp-rs/src/factorgraph/mod.rs

@@ -0,0 +1,4 @@
+pub mod factor;
+pub mod variable;
+pub mod factorgraph;
+pub mod message;

gbp-rs/src/factorgraph/variable.rs

@@ -0,0 +1,21 @@
+/// 
+
+// pub trait Variable {}
+
+// struct RobotId(usize);
+type RobotId = usize;
+// struct NodeId(usize);
+type NodeId = usize;
+
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq, PartialOrd)]
+pub struct Variable {
+    node_id: NodeId,
+    robot_id: RobotId,
+}
+
+impl Variable {
+    fn new(node_id: NodeId, robot_id: RobotId) -> Self {
+        Self { node_id, robot_id }
+    }
+}

gbp-rs/src/lib.rs

@@ -1,86 +1,10 @@
-// struct RobotId(usize);
-type RobotId = usize;
-// struct NodeId(usize);
-type NodeId = usize;
+pub mod factorgraph;
 
-trait Factor {}
-
-#[derive(Debug)]
-struct DefaultFactor;
-#[derive(Debug)]
-struct DynamicFactor;
-#[derive(Debug)]
-struct InterRobotFactor;
-#[derive(Debug)]
-struct ObstacleFactor;
-
-impl Factor for DefaultFactor {}
-impl Factor for DynamicFactor {}
-impl Factor for InterRobotFactor {}
-impl Factor for ObstacleFactor {}
-
-#[derive(Debug)]
-enum FactorType {
-    Default(DefaultFactor),
-    Dynamic(DynamicFactor),
-    InterRobot(InterRobotFactor),
-    Ocstacle(ObstacleFactor),
-}
-
-// enum MsgPassingMode {EXTERNAL, INTERNAL};
-
-/// Ways message passing can be performed
-#[derive(Debug)]
-enum MessagePassingMode {
-    /// Between two different robots/factorgraphs
-    External,
-    /// Within a robot/factorgraph
-    Internal,
-}
-// Eigen::VectorXd eta;
-// Eigen::MatrixXd lambda;
-// Eigen::VectorXd mu;
-
-#[derive(Debug)]
-struct Message {
-    pub eta: nalgebra::DVector<f64>,
-    pub lambda: nalgebra::DMatrix<f64>,
-    pub mu: nalgebra::DVector<f64>,
+pub mod prelude {
+    pub use crate::factorgraph::factor::Factor;
+    pub use crate::factorgraph::factorgraph::FactorGraph;
+    pub use crate::factorgraph::variable::Variable;
+    pub use crate::factorgraph::message::Message;
 }
 
-// Implement addtion and subtraction for messages
-impl std::ops::Add for Message {
-    type Output = Self;
 
-    fn add(self, other: Self) -> Self {
-        Self {
-            eta: self.eta + other.eta,
-            lambda: self.lambda + other.lambda,
-            mu: self.mu + other.mu,
-        }
-    }
-}
-
-impl std::ops::Sub for Message {
-    type Output = Self;
-
-    fn sub(self, other: Self) -> Self {
-        Self {
-            eta: self.eta - other.eta,
-            lambda: self.lambda - other.lambda,
-            mu: self.mu - other.mu,
-        }
-    }
-}
-
-#[derive(Debug, Copy, Clone, Eq, PartialEq, PartialOrd)]
-struct Variable {
-    node_id: NodeId,
-    robot_id: RobotId,
-}
-
-impl Variable {
-    fn new(node_id: NodeId, robot_id: RobotId) -> Self {
-        Self { node_id, robot_id }
-    }
-}