98 lines
2.8 KiB
C++
98 lines
2.8 KiB
C++
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file DSFVector.cpp
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* @date Jun 25, 2010
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* @author Kai Ni
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* @brief a faster implementation for DSF, which uses vector rather than btree.
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*/
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#include <boost/make_shared.hpp>
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#include <boost/foreach.hpp>
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#include <gtsam_unstable/base/DSFVector.h>
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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DSFVector::DSFVector (const size_t numNodes) {
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v_ = boost::make_shared<V>(numNodes);
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int index = 0;
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keys_.reserve(numNodes);
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for(V::iterator it = v_->begin(); it!=v_->end(); it++, index++) {
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*it = index;
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keys_.push_back(index);
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}
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}
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/* ************************************************************************* */
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DSFVector::DSFVector(const boost::shared_ptr<V>& v_in, const std::vector<size_t>& keys) : keys_(keys) {
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v_ = v_in;
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BOOST_FOREACH(const size_t key, keys)
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(*v_)[key] = key;
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}
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/* ************************************************************************* */
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bool DSFVector::isSingleton(const Label& label) const {
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bool result = false;
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V::const_iterator it = keys_.begin();
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for (; it != keys_.end(); ++it) {
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if(findSet(*it) == label) {
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if (!result) // find the first occurrence
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result = true;
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else
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return false;
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}
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}
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return result;
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}
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/* ************************************************************************* */
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std::set<size_t> DSFVector::set(const Label& label) const {
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std::set<size_t> set;
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V::const_iterator it = keys_.begin();
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for (; it != keys_.end(); it++) {
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if (findSet(*it) == label)
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set.insert(*it);
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}
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return set;
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}
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/* ************************************************************************* */
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std::map<DSFVector::Label, std::set<size_t> > DSFVector::sets() const {
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std::map<Label, std::set<size_t> > sets;
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V::const_iterator it = keys_.begin();
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for (; it != keys_.end(); it++) {
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sets[findSet(*it)].insert(*it);
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}
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return sets;
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}
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/* ************************************************************************* */
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std::map<DSFVector::Label, std::vector<size_t> > DSFVector::arrays() const {
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std::map<Label, std::vector<size_t> > arrays;
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V::const_iterator it = keys_.begin();
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for (; it != keys_.end(); it++) {
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arrays[findSet(*it)].push_back(*it);
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}
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return arrays;
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}
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/* ************************************************************************* */
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void DSFVector::makeUnionInPlace(const size_t& i1, const size_t& i2) {
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(*v_)[findSet(i2)] = findSet(i1);
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}
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} // namespace gtsam
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