Refactor

src/factor_graph.rs

@@ -10,7 +10,7 @@ pub use message::*;
 pub use variable::*;
 
 pub struct PriorFactor {
-    variable_msg: MessageId,
+    message: MessageId,
     variable: VariableId,
     gaussian: Gaussian,
 }
@@ -18,17 +18,17 @@ pub struct PriorFactor {
 impl PriorFactor {
     pub fn new(message_arena: &mut MessageArena, variable: VariableId, gaussian: Gaussian) -> Self {
         Self {
-            variable_msg: message_arena.create(),
+            message: message_arena.create(),
             variable,
             gaussian,
         }
     }
 
     pub fn start(&self, variable_arena: &mut VariableArena, message_arena: &mut MessageArena) {
-        let old = message_arena[self.variable_msg];
+        let old = message_arena[self.message];
         let value = variable_arena[self.variable];
 
-        message_arena[self.variable_msg] = self.gaussian * old / value;
+        message_arena[self.message] = self.gaussian * old / value;
         variable_arena[self.variable] = self.gaussian;
     }
 }
@@ -36,8 +36,8 @@ impl PriorFactor {
 pub struct LikelihoodFactor {
     mean_msg: MessageId,
     value_msg: MessageId,
-    mean: VariableId,
-    value: VariableId,
+    mean_var: VariableId,
+    value_var: VariableId,
     variance: f64,
 }
 
@@ -51,8 +51,8 @@ impl LikelihoodFactor {
         Self {
             mean_msg: message_arena.create(),
             value_msg: message_arena.create(),
-            mean,
-            value,
+            mean_var: mean,
+            value_var: value,
             variance,
         }
     }
@@ -62,7 +62,7 @@ impl LikelihoodFactor {
         variable_arena: &mut VariableArena,
         message_arena: &mut MessageArena,
     ) {
-        let x = variable_arena[self.value];
+        let x = variable_arena[self.value_var];
         let fx = message_arena[self.value_msg];
 
         let a = 1.0 / (1.0 + self.variance * (x.pi() - fx.pi()));
@@ -71,7 +71,7 @@ impl LikelihoodFactor {
         let old = message_arena[self.mean_msg];
 
         message_arena[self.mean_msg] = gaussian;
-        variable_arena[self.mean] = variable_arena[self.mean] / old * gaussian;
+        variable_arena[self.mean_var] = variable_arena[self.mean_var] / old * gaussian;
     }
 
     pub fn update_value(
@@ -79,7 +79,7 @@ impl LikelihoodFactor {
         variable_arena: &mut VariableArena,
         message_arena: &mut MessageArena,
     ) {
-        let y = variable_arena[self.mean];
+        let y = variable_arena[self.mean_var];
         let fy = message_arena[self.mean_msg];
 
         let a = 1.0 / (1.0 + self.variance * (y.pi() - fy.pi()));
@@ -88,7 +88,7 @@ impl LikelihoodFactor {
         let old = message_arena[self.value_msg];
 
         message_arena[self.value_msg] = gaussian;
-        variable_arena[self.value] = variable_arena[self.value] / old * gaussian;
+        variable_arena[self.value_var] = variable_arena[self.value_var] / old * gaussian;
     }
 }
 
@@ -225,7 +225,7 @@ impl SumFactor {
 }
 
 pub struct TruncateFactor {
-    variable_msg: MessageId,
+    message: MessageId,
     variable: VariableId,
     epsilon: f64,
     draw: bool,
@@ -239,7 +239,7 @@ impl TruncateFactor {
         draw: bool,
     ) -> Self {
         Self {
-            variable_msg: message_arena.create(),
+            message: message_arena.create(),
             variable,
             epsilon,
             draw,
@@ -252,7 +252,7 @@ impl TruncateFactor {
         message_arena: &mut MessageArena,
     ) -> f64 {
         let x = variable_arena[self.variable];
-        let fx = message_arena[self.variable_msg];
+        let fx = message_arena[self.message];
 
         let c = x.pi() - fx.pi();
         let d = x.tau() - fx.tau();
@@ -272,10 +272,10 @@ impl TruncateFactor {
 
         let gaussian = Gaussian::from_pi_tau(c / m_w, (d + sqrt_c * v) / m_w);
 
-        let old = message_arena[self.variable_msg];
+        let old = message_arena[self.message];
         let value = variable_arena[self.variable];
 
-        message_arena[self.variable_msg] = gaussian * old / value;
+        message_arena[self.message] = gaussian * old / value;
 
         let pi_delta = (value.pi() - gaussian.pi()).abs();