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Moved key utilty functions back to MastSLAM

release/4.3a0
Alex Cunningham 2013-05-21 17:50:04 +00:00
parent 16c11c70fb
commit 48fc15552a
3 changed files with 0 additions and 47 deletions
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5
gtsam.h
View File

@ -1450,11 +1450,6 @@ size_t symbol(char chr, size_t index);
char symbolChr(size_t key); char symbolChr(size_t key);
size_t symbolIndex(size_t key); size_t symbolIndex(size_t key);
// Key utilities
gtsam::KeySet keyIntersection(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB);
gtsam::KeySet keyDifference(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB);
bool hasKeyIntersection(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB);
// Default keyformatter // Default keyformatter
void printKeySet(const gtsam::KeySet& keys); void printKeySet(const gtsam::KeySet& keys);
void printKeySet(const gtsam::KeySet& keys, string s); void printKeySet(const gtsam::KeySet& keys, string s);

33
gtsam/nonlinear/Key.cpp
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@ -60,39 +60,6 @@ void printKeySet(const gtsam::KeySet& keys, const std::string& s, const KeyForma
std::cout << std::endl; std::cout << std::endl;
} }
} }
/* ************************************************************************* */
gtsam::KeySet keyIntersection(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB) {
gtsam::KeySet intersection;
if (keysA.empty() || keysB.empty())
return intersection;
BOOST_FOREACH(const gtsam::Key& key, keysA)
if (keysB.count(key))
intersection.insert(key);
return intersection;
}
/* ************************************************************************* */
bool hasKeyIntersection(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB) {
if (keysA.empty() || keysB.empty())
return false;
BOOST_FOREACH(const gtsam::Key& key, keysA)
if (keysB.count(key))
return true;
return false;
}
/* ************************************************************************* */
gtsam::KeySet keyDifference(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB) {
if (keysA.empty() || keysB.empty())
return keysA;
gtsam::KeySet difference;
BOOST_FOREACH(const gtsam::Key& key, keysA)
if (!keysB.count(key))
difference.insert(key);
return difference;
}
/* ************************************************************************* */ /* ************************************************************************* */
} // \namespace gtsam } // \namespace gtsam

9
gtsam/nonlinear/Key.h
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@ -60,14 +60,5 @@ namespace gtsam {
/// Utility function to print sets of keys with optional prefix /// Utility function to print sets of keys with optional prefix
GTSAM_EXPORT void printKeySet(const KeySet& keys, const std::string& s = "", GTSAM_EXPORT void printKeySet(const KeySet& keys, const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter); const KeyFormatter& keyFormatter = DefaultKeyFormatter);
/// Computes the intersection between two sets
GTSAM_EXPORT gtsam::KeySet keyIntersection(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB);
/// Checks if an intersection exists - faster checking size of above
GTSAM_EXPORT bool hasKeyIntersection(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB);
/// Computes a difference between sets, so result is those that are in A, but not B
GTSAM_EXPORT gtsam::KeySet keyDifference(const gtsam::KeySet& keysA, const gtsam::KeySet& keysB);
} }