From 422b286a594d5708d7d0d17ff565e719e0b371c6 Mon Sep 17 00:00:00 2001
From: Johannes Terblanche <Affie@users.noreply.github.com>
Date: Tue, 18 Jun 2024 14:53:14 +0200
Subject: [PATCH 1/5] defFactorFunction macro

---
 src/entities/DFGFactor.jl |  1 -
 src/services/DFGFactor.jl | 45 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 45 insertions(+), 1 deletion(-)

diff --git a/src/entities/DFGFactor.jl b/src/entities/DFGFactor.jl
index 8b4b66f9..37d7d44c 100644
--- a/src/entities/DFGFactor.jl
+++ b/src/entities/DFGFactor.jl
@@ -2,7 +2,6 @@
 ## Abstract Types
 ##==============================================================================
 
-# TODO consider changing this to AbstractFactor
 abstract type AbstractFactor end
 abstract type AbstractPackedFactor end
 
diff --git a/src/services/DFGFactor.jl b/src/services/DFGFactor.jl
index 9629720e..340f984f 100644
--- a/src/services/DFGFactor.jl
+++ b/src/services/DFGFactor.jl
@@ -52,6 +52,51 @@ function _getPriorType(_type::Type{<:InferenceVariable})
     return getfield(_type.name.module, Symbol(:Prior, _type.name.name))
 end
 
+
+##==============================================================================
+## Default Factors Function Macro
+##==============================================================================
+function pack end
+function unpack end
+"""
+    @defFactorFunction StructName factortype<:AbstractFactor manifolds<:ManifoldsBase.AbstractManifold
+
+A macro to create a new factor function with name `StructName` and manifolds.  Note that 
+the `manifolds` is an object and *must* be a subtype of `ManifoldsBase.AbstractManifold`.
+See documentation in [Manifolds.jl on making your own](https://juliamanifolds.github.io/Manifolds.jl/stable/examples/manifold.html). 
+
+Example:
+```
+DFG.@defFactorFunction Pose2Pos2 AbstractManifoldMinimize SpecialEuclidean(2)
+```
+"""
+macro defFactorFunction(structname, factortype, manifold)
+    packedstructname = Symbol("Packed", structname)
+    return esc(
+        quote
+            Base.@__doc__ struct $structname{T} <: $factortype 
+                Z::T
+            end
+
+            # Base.@__doc__ struct $packedstructname{T<:PackedSamplableBelief} <: AbstractPackedFactor 
+            Base.@__doc__ struct $packedstructname{T} <: AbstractPackedFactor 
+                Z::T
+            end
+
+            # user manifold must be a <:Manifold
+            @assert ($manifold isa AbstractManifold) "@defVariable of " *
+                                                     string($structname) *
+                                                     " requires that the " *
+                                                     string($manifold) *
+                                                     " be a subtype of `ManifoldsBase.AbstractManifold`"
+
+            DFG.getManifold(::Type{$structname}) = $manifold
+            DFG.pack(d::$structname) = $packedstructname(packDistribution(d.Z))
+            DFG.unpack(d::$packedstructname) = $structname(unpackDistribution(d.Z)) 
+        end,
+    )
+end
+
 ##==============================================================================
 ## Factors
 ##==============================================================================

From f6fe309117ff7be2c1d5c2433461320e56240070 Mon Sep 17 00:00:00 2001
From: Johannes Terblanche <6612981+Affie@users.noreply.github.com>
Date: Tue, 18 Jun 2024 15:08:46 +0200
Subject: [PATCH 2/5] Apply suggestions from code review

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
---
 src/services/DFGFactor.jl | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/services/DFGFactor.jl b/src/services/DFGFactor.jl
index 340f984f..bed3e845 100644
--- a/src/services/DFGFactor.jl
+++ b/src/services/DFGFactor.jl
@@ -52,7 +52,6 @@ function _getPriorType(_type::Type{<:InferenceVariable})
     return getfield(_type.name.module, Symbol(:Prior, _type.name.name))
 end
 
-
 ##==============================================================================
 ## Default Factors Function Macro
 ##==============================================================================
@@ -74,12 +73,12 @@ macro defFactorFunction(structname, factortype, manifold)
     packedstructname = Symbol("Packed", structname)
     return esc(
         quote
-            Base.@__doc__ struct $structname{T} <: $factortype 
+            Base.@__doc__ struct $structname{T} <: $factortype
                 Z::T
             end
 
             # Base.@__doc__ struct $packedstructname{T<:PackedSamplableBelief} <: AbstractPackedFactor 
-            Base.@__doc__ struct $packedstructname{T} <: AbstractPackedFactor 
+            Base.@__doc__ struct $packedstructname{T} <: AbstractPackedFactor
                 Z::T
             end
 
@@ -92,7 +91,7 @@ macro defFactorFunction(structname, factortype, manifold)
 
             DFG.getManifold(::Type{$structname}) = $manifold
             DFG.pack(d::$structname) = $packedstructname(packDistribution(d.Z))
-            DFG.unpack(d::$packedstructname) = $structname(unpackDistribution(d.Z)) 
+            DFG.unpack(d::$packedstructname) = $structname(unpackDistribution(d.Z))
         end,
     )
 end

From 92524ae78ac02ace5eaa935923319ce2e8c0798b Mon Sep 17 00:00:00 2001
From: Johannes Terblanche <Affie@users.noreply.github.com>
Date: Thu, 11 Jul 2024 16:23:19 +0200
Subject: [PATCH 3/5] update defFactorType

---
 src/services/DFGFactor.jl | 22 +++++++++++++++-------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/src/services/DFGFactor.jl b/src/services/DFGFactor.jl
index bed3e845..882aaf7e 100644
--- a/src/services/DFGFactor.jl
+++ b/src/services/DFGFactor.jl
@@ -55,10 +55,19 @@ end
 ##==============================================================================
 ## Default Factors Function Macro
 ##==============================================================================
+export PackedSamplableBelief
+# export pack, unpack, packDistribution, unpackDistribution
+
 function pack end
 function unpack end
+function packDistribution end
+function unpackDistribution end
+
+abstract type PackedSamplableBelief end
+StructTypes.StructType(::Type{<:PackedSamplableBelief}) = StructTypes.UnorderedStruct()
+
 """
-    @defFactorFunction StructName factortype<:AbstractFactor manifolds<:ManifoldsBase.AbstractManifold
+    @defFactorType StructName factortype<:AbstractFactor manifolds<:ManifoldsBase.AbstractManifold
 
 A macro to create a new factor function with name `StructName` and manifolds.  Note that 
 the `manifolds` is an object and *must* be a subtype of `ManifoldsBase.AbstractManifold`.
@@ -66,10 +75,10 @@ See documentation in [Manifolds.jl on making your own](https://juliamanifolds.gi
 
 Example:
 ```
-DFG.@defFactorFunction Pose2Pos2 AbstractManifoldMinimize SpecialEuclidean(2)
+DFG.@defFactorType Pose2Pos2 AbstractManifoldMinimize SpecialEuclidean(2)
 ```
 """
-macro defFactorFunction(structname, factortype, manifold)
+macro defFactorType(structname, factortype, manifold)
     packedstructname = Symbol("Packed", structname)
     return esc(
         quote
@@ -77,8 +86,7 @@ macro defFactorFunction(structname, factortype, manifold)
                 Z::T
             end
 
-            # Base.@__doc__ struct $packedstructname{T<:PackedSamplableBelief} <: AbstractPackedFactor 
-            Base.@__doc__ struct $packedstructname{T} <: AbstractPackedFactor
+            Base.@__doc__ struct $packedstructname{T<:PackedSamplableBelief} <: AbstractPackedFactor 
                 Z::T
             end
 
@@ -90,8 +98,8 @@ macro defFactorFunction(structname, factortype, manifold)
                                                      " be a subtype of `ManifoldsBase.AbstractManifold`"
 
             DFG.getManifold(::Type{$structname}) = $manifold
-            DFG.pack(d::$structname) = $packedstructname(packDistribution(d.Z))
-            DFG.unpack(d::$packedstructname) = $structname(unpackDistribution(d.Z))
+            DFG.pack(d::$structname) = $packedstructname(DFG.packDistribution(d.Z))
+            DFG.unpack(d::$packedstructname) = $structname(DFG.unpackDistribution(d.Z))
         end,
     )
 end

From fc8923b1c57838f03502d675af7c9af585bd2e8e Mon Sep 17 00:00:00 2001
From: Johannes Terblanche <6612981+Affie@users.noreply.github.com>
Date: Fri, 12 Jul 2024 17:59:49 +0200
Subject: [PATCH 4/5] Apply suggestions from code review

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
---
 src/services/DFGFactor.jl | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/services/DFGFactor.jl b/src/services/DFGFactor.jl
index 882aaf7e..8d83d431 100644
--- a/src/services/DFGFactor.jl
+++ b/src/services/DFGFactor.jl
@@ -86,7 +86,8 @@ macro defFactorType(structname, factortype, manifold)
                 Z::T
             end
 
-            Base.@__doc__ struct $packedstructname{T<:PackedSamplableBelief} <: AbstractPackedFactor 
+            Base.@__doc__ struct $packedstructname{T <: PackedSamplableBelief} <:
+                                 AbstractPackedFactor
                 Z::T
             end
 

From 72f7c39b0decaa3e100ccc71966c3e71d4d56b7a Mon Sep 17 00:00:00 2001
From: Johannes Terblanche <6612981+Affie@users.noreply.github.com>
Date: Wed, 2 Apr 2025 10:57:56 +0200
Subject: [PATCH 5/5] Update DFGFactor.jl

---
 src/services/DFGFactor.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/services/DFGFactor.jl b/src/services/DFGFactor.jl
index 8d83d431..7d2574b0 100644
--- a/src/services/DFGFactor.jl
+++ b/src/services/DFGFactor.jl
@@ -92,7 +92,7 @@ macro defFactorType(structname, factortype, manifold)
             end
 
             # user manifold must be a <:Manifold
-            @assert ($manifold isa AbstractManifold) "@defVariable of " *
+            @assert ($manifold isa AbstractManifold) "@defFactorType of " *
                                                      string($structname) *
                                                      " requires that the " *
                                                      string($manifold) *