Added unit test for Fast* containers, added generic interface to convert from containers to KeySet

gtsam.h

@@ -1517,6 +1517,8 @@ class KeyList {
 class KeySet {
 	KeySet();
 	KeySet(const gtsam::KeySet& other);
+	KeySet(const gtsam::KeyVector& other);
+	KeySet(const gtsam::KeyList& other);
 
 	// Testable
 	void print(string s) const;

gtsam/base/FastSet.h

@@ -61,6 +61,12 @@ public:
       Base(first, last) {
   }
 
+  /** Constructor from a iterable container, passes through to base class */
+  template<typename INPUTCONTAINER>
+  explicit FastSet(const INPUTCONTAINER& container) :
+      Base(container.begin(), container.end()) {
+  }
+
   /** Copy constructor from another FastSet */
   FastSet(const FastSet<VALUE>& x) :
       Base(x) {

gtsam/base/tests/testFastContainers.cpp

@@ -0,0 +1,34 @@
+/**
+ * @file testFastContainers.cpp
+ *
+ * @brief Test for the Fast* containers that use boost pool allocators and interfaces
+ *
+ * @date Sep 24, 2012
+ * @author Alex Cunningham
+ */
+
+#include <CppUnitLite/TestHarness.h>
+
+#include <boost/assign/std/vector.hpp>
+#include <boost/assign/std/set.hpp>
+
+#include <gtsam/base/FastSet.h>
+#include <gtsam/base/FastVector.h>
+
+using namespace boost::assign;
+using namespace gtsam;
+
+/* ************************************************************************* */
+TEST( testFastContainers, KeySet ) {
+
+	FastVector<size_t> init_vector;
+	init_vector += 2, 3, 4, 5;
+
+	FastSet<size_t> actSet(init_vector);
+	FastSet<size_t> expSet; expSet += 2, 3, 4, 5;
+	EXPECT(actSet == expSet);
+}
+
+/* ************************************************************************* */
+int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
+/* ************************************************************************* */