108 lines
2.5 KiB
C
108 lines
2.5 KiB
C
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/**
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* @file FusionTupleConfig.h
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* @brief Experimental tuple config using boost.Fusion
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* @author Alex Cunningham
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*/
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#pragma once
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#include <boost/fusion/container/set.hpp>
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#include <boost/fusion/include/make_set.hpp>
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#include <boost/fusion/include/at_key.hpp>
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#include <boost/fusion/algorithm/iteration.hpp>
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#include <boost/fusion/algorithm/query.hpp>
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#include <LieConfig.h>
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namespace gtsam {
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/**
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* This config uses a real tuple to store types
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* The template parameter should be a boost fusion structure, like
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* set<Config1, Config2>
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*/
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template<class Configs>
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class FusionTupleConfig {
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public:
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/** useful types */
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typedef Configs BaseTuple;
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protected:
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/** the underlying tuple storing everything */
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Configs base_tuple_;
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public:
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/** create an empty config */
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FusionTupleConfig() {}
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/** copy constructor */
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FusionTupleConfig(const FusionTupleConfig<Configs>& other) : base_tuple_(other.base_tuple_) {}
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/** direct initialization of the underlying structure */
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FusionTupleConfig(const Configs& cfg_set) : base_tuple_(cfg_set) {}
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/** initialization by slicing a larger config */
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template<class Configs2>
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FusionTupleConfig(const FusionTupleConfig<Configs2>& other) {
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// use config subinsert and fusion::foreach
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}
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virtual ~FusionTupleConfig() {}
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/** insertion */
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template <class Key, class Value>
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void insert(const Key& j, const Value& x) {
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boost::fusion::at_key<LieConfig<Key, Value> >(base_tuple_).insert(j,x);
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}
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/** retrieve a point */
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template<class Key>
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const typename Key::Value_t & at(const Key& j) const {
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return boost::fusion::at_key<LieConfig<Key, typename Key::Value_t> >(base_tuple_).at(j);
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}
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/** retrieve a full config */
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template<class Config>
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const Config & config() const {
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return boost::fusion::at_key<Config>(base_tuple_);
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}
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/** size of the config - sum all sizes from subconfigs */
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size_t size() const {
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return boost::fusion::accumulate(base_tuple_, 0, FusionTupleConfig<Configs>::size_helper());
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}
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/** returns true if the config is empty */
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bool empty() const {
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return boost::fusion::all(base_tuple_, FusionTupleConfig<Configs>::empty_helper());
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}
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private:
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/** helper structs to make use of fusion algorithms */
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struct size_helper {
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typedef size_t result_type;
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template<typename T>
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size_t operator()(const T& t, const size_t& s) const
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{
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return s + t.size();
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}
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};
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struct empty_helper
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{
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template<typename T>
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bool operator()(T t) const
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{
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return t.empty();
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}
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};
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};
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} // \namespace gtsam
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