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Design: Graph DataLevels

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Dehann Fourie edited this page Jul 11, 2024 · 8 revisions

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Background

Also see the data design: https://github.com/JuliaRobotics/Caesar.jl/wiki/Data-Design-for-Caesar-RoME-IIF

Suggested 4 DataLevels:

  • Skeleton{Variable/Factor} old design wiki
  • Summary{Variable/Factor}
  • DFG{Variable/Factor} (Legacy PackedVariable or PackedFactor)
  • Compute{Variable/Factor} -- fully derivable from DFG{Variable/Factor} with preference for JuliaLang.

Execptions within Standardized DataLevels across programming languages

Data level Skeleton, Summary, DFG are 99% consistent across all languages and serializations, but there are exceptions:

Lang-Minor-Performance-Majors (LMPM)

  • E.g. JuliaLang uses label::Symbol everywhere, vs. Python uses label: string everywhere

Satellites (Dict vs. Vector/List)

For performance per technology, GQL queries return vectors yet DFG internally use Dicts. Special dispatches are needed to converge to dicts in the DFGs (aka SDKs) to dicts keyed by label for known satellites:

  • BlobEntries
  • PPEs
  • SolverData
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