482 lines
9.8 KiB
Plaintext
482 lines
9.8 KiB
Plaintext
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#LyX 2.0 created this file. For more info see http://www.lyx.org/
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\lyxformat 413
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\begin_document
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\begin_header
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\textclass article
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\begin_preamble
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\usepackage{color}
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\definecolor{mygreen}{rgb}{0,0.6,0}
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\definecolor{mygray}{rgb}{0.5,0.5,0.5}
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\definecolor{mymauve}{rgb}{0.58,0,0.82}
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\lstset{ %
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backgroundcolor=\color{white}, % choose the background color; you must add \usepackage{color} or \usepackage{xcolor}
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basicstyle=\footnotesize, % the size of the fonts that are used for the code
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breakatwhitespace=false, % sets if automatic breaks should only happen at whitespace
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breaklines=true, % sets automatic line breaking
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captionpos=b, % sets the caption-position to bottom
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commentstyle=\color{mygreen}, % comment style
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% deletekeywords={...}, % if you want to delete keywords from the given language
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escapeinside={\%*}{*)}, % if you want to add LaTeX within your code
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extendedchars=true, % lets you use non-ASCII characters; for 8-bits encodings only, does not work with UTF-8
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frame=single, % adds a frame around the code
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keepspaces=true, % keeps spaces in text, useful for keeping indentation of code (possibly needs columns=flexible)
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keywordstyle=\color{blue}, % keyword style
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language=C++, % the language of the code
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morekeywords={*,...}, % if you want to add more keywords to the set
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numbers=left, % where to put the line-numbers; possible values are (none, left, right)
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numbersep=5pt, % how far the line-numbers are from the code
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numberstyle=\tiny\color{mygray}, % the style that is used for the line-numbers
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rulecolor=\color{black}, % if not set, the frame-color may be changed on line-breaks within not-black text (e.g. comments (green here))
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showspaces=false, % show spaces everywhere adding particular underscores; it overrides 'showstringspaces'
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showstringspaces=false, % underline spaces within strings only
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showtabs=false, % show tabs within strings adding particular underscores
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stepnumber=2, % the step between two line-numbers. If it's 1, each line will be numbered
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stringstyle=\color{mymauve}, % string literal style
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tabsize=2, % sets default tabsize to 2 spaces
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title=\lstname % show the filename of files included with \lstinputlisting; also try caption instead of title
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}
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\end_preamble
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\use_default_options true
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\maintain_unincluded_children false
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\language english
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\language_package default
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\inputencoding auto
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\fontencoding global
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\font_roman lmodern
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\font_sans lmss
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\font_typewriter lmtt
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\font_default_family default
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\use_non_tex_fonts false
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\font_sc false
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\font_osf false
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\font_sf_scale 100
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\font_tt_scale 100
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\graphics default
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\default_output_format default
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\output_sync 0
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\bibtex_command default
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\index_command default
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\paperfontsize default
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\spacing single
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\use_hyperref false
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\papersize default
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\use_geometry false
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\use_amsmath 1
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\use_esint 1
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\use_mhchem 1
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\use_mathdots 1
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\cite_engine basic
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\use_bibtopic false
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\use_indices false
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\paperorientation portrait
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\suppress_date false
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\use_refstyle 1
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\index Index
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\shortcut idx
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\color #008000
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\end_index
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\secnumdepth 3
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\tocdepth 3
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\paragraph_separation indent
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\paragraph_indentation default
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\quotes_language english
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\papercolumns 1
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\papersides 1
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\paperpagestyle default
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\tracking_changes false
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\output_changes false
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\html_math_output 0
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\html_css_as_file 0
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\html_be_strict false
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\end_header
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\begin_body
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\begin_layout Section
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Template Classes
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\end_layout
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\begin_layout Standard
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Templated classes are great for writing generic code for multiple types
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(e.g.
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the same elimination algorithm code for symbolic, discrete, and Gaussian
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elimination) without the drawbacks of virtual inheritance (which include
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rigid class interfaces, downcasting from returned base class pointers,
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and additional runtime overhead).
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Depending on how they're used, though, templates can result in very slow
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compile times, large binary files, and hard-to-use code.
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This section describes the
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\begin_inset Quotes eld
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\end_inset
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best practices
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\begin_inset Quotes erd
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\end_inset
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we have developed for gaining the benefits of templates without the drawbacks.
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\end_layout
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\begin_layout Standard
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If you need to write generic code or classes, here are several programming
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patterns we have found to work very well:
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\end_layout
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\begin_layout Subsection
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The
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\begin_inset Quotes eld
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\end_inset
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Templated Base, Specialized Derived
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\begin_inset Quotes erd
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\end_inset
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Pattern
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\end_layout
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\begin_layout Standard
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This pattern is for when you have a generic class containing algorithm or
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data structure code that will be specialized to several types.
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The templated base class should never be used directly, instead only the
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specializations should be used.
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Some specialized types can be pre-compiled into the library, but the option
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remains to specialize new types in external libraries or projects.
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\end_layout
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\begin_layout Subsubsection
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Basic Class Structure
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\end_layout
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\begin_layout Standard
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We'll use
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\family typewriter
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FactorGraph
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\family default
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as an example.
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It is templated on the factor type stored in it and has several specializations.
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The templated base class
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\family typewriter
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FactorGraph<class FACTOR>
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\family default
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is divided into a header file (
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\family typewriter
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.h
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\family default
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) and an
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\begin_inset Quotes eld
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\end_inset
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instantiation
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\begin_inset Quotes erd
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\end_inset
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file (
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\family typewriter
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-inst.h
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\family default
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).
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The basic class structure is as follows.
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\begin_inset listings
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lstparams "basicstyle={\scriptsize\ttfamily},language={C++}"
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inline false
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status open
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\begin_layout Plain Layout
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// File FactorGraph.h
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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%*
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\backslash
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bfseries{
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\backslash
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emph{
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\backslash
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color{red}{// Include a minimal set of headers.
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Do not include any '-inst.h' files (this is the key to fast compiles).}}}*)
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\end_layout
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\begin_layout Plain Layout
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#include <boost/serialization/nvp.hpp>
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\end_layout
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\begin_layout Plain Layout
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...
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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namespace gtsam {
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\end_layout
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\begin_layout Plain Layout
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/** Class description */
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\end_layout
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\begin_layout Plain Layout
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template<class FACTOR>
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\end_layout
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\begin_layout Plain Layout
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class FactorGraph
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\end_layout
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\begin_layout Plain Layout
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{
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\end_layout
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\begin_layout Plain Layout
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%*
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\backslash
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bfseries{
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\backslash
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emph{
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\backslash
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color{red}{// Make 'private' any typedefs that must be redefined in derived
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classes.
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E.g.
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'This' in the context of the derived class should refer to the derived
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class.
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These typedefs will be used only by the generic code in this base class.}}}*)
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\end_layout
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\begin_layout Plain Layout
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private:
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\end_layout
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\begin_layout Plain Layout
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typedef FactorGraph<FACTOR> This; ///< Typedef for this class
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\end_layout
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\begin_layout Plain Layout
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typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to
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this
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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%*
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\backslash
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bfseries{
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\backslash
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emph{
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\backslash
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color{red}{// Make 'public' the typedefs that will be valid in the derived
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class.}}}*)
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\end_layout
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\begin_layout Plain Layout
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public:
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\end_layout
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\begin_layout Plain Layout
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typedef FACTOR FactorType; ///< Factor type stored in this graph
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\end_layout
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\begin_layout Plain Layout
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typedef boost::shared_ptr<FACTOR> sharedFactor; ///< Shared pointer
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to a factor
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\end_layout
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\begin_layout Plain Layout
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...
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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%*
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\backslash
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bfseries{
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\backslash
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emph{
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\backslash
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color{red}{// Normally, data is 'protected' so the derived class can access
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it.}}}*)
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\end_layout
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\begin_layout Plain Layout
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protected:
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\end_layout
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\begin_layout Plain Layout
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/** Collection of factors */
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\end_layout
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\begin_layout Plain Layout
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std::vector<sharedFactor> factors_;
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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%*
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\backslash
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bfseries{
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\backslash
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emph{
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\backslash
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color{red}{// Make 'protected' all constructors, named constructors, or
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methods returning the base class type.
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These are not public - the derived class will call them and properly convert
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returned base classes to the derived class.}}}*)
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\end_layout
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\begin_layout Plain Layout
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/// @name Standard Constructors
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\end_layout
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\begin_layout Plain Layout
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/// @{
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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/** Default constructor */
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\end_layout
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\begin_layout Plain Layout
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FactorGraphUnordered() {}
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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/** Named constructor from iterator over factors */
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\end_layout
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\begin_layout Plain Layout
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template<typename ITERATOR>
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\end_layout
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\begin_layout Plain Layout
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static This FromIterator(ITERATOR firstFactor, ITERATOR lastFactor);
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\end_layout
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\begin_layout Plain Layout
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/// @}
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\end_layout
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\begin_layout Plain Layout
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\end_layout
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\begin_layout Plain Layout
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%*
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\backslash
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bfseries{
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\backslash
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emph{
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\backslash
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color{red}{// Make 'public' standard methods that will be available in the
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||
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derived class's API.}}}*)
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||
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\end_layout
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||
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||
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\begin_layout Plain Layout
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public:
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\end_layout
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||
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\begin_layout Plain Layout
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/// @name Adding Factors
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\end_layout
|
||
|
|
|
||
|
|
\begin_layout Plain Layout
|
||
|
|
|
||
|
|
/// @{
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\begin_layout Plain Layout
|
||
|
|
|
||
|
|
/** ...
|
||
|
|
*/
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\begin_layout Plain Layout
|
||
|
|
|
||
|
|
void reserve(size_t size);
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\begin_layout Plain Layout
|
||
|
|
|
||
|
|
...
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\begin_layout Plain Layout
|
||
|
|
|
||
|
|
/// @}
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\begin_layout Plain Layout
|
||
|
|
|
||
|
|
};
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\begin_layout Plain Layout
|
||
|
|
|
||
|
|
}
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\end_inset
|
||
|
|
|
||
|
|
|
||
|
|
\end_layout
|
||
|
|
|
||
|
|
\end_body
|
||
|
|
\end_document
|