99 lines
2.5 KiB
C++
99 lines
2.5 KiB
C++
/**
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* @file VectorConfig.h
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* @brief Factor Graph Configuration
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* @author Carlos Nieto
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* @author Christian Potthast
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*/
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// \callgraph
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#pragma once
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#include <map>
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#include <boost/serialization/map.hpp>
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#include "Testable.h"
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#include "Vector.h"
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namespace gtsam {
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/** Factor Graph Configuration */
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class VectorConfig : public Testable<VectorConfig> {
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protected:
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/** Map from string indices to values */
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std::map<std::string, Vector> values;
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public:
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typedef std::map<std::string, Vector>::iterator iterator;
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typedef std::map<std::string, Vector>::const_iterator const_iterator;
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VectorConfig() {}
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VectorConfig(const VectorConfig& cfg_in): values(cfg_in.values) {}
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virtual ~VectorConfig() {}
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/** return all the nodes in the graph **/
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std::vector<std::string> get_names() const {
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std::vector<std::string> names;
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for(const_iterator it=values.begin(); it!=values.end(); it++)
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names.push_back(it->first);
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return names;
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}
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/** Insert a value into the configuration with a given index */
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VectorConfig& insert(const std::string& name, const Vector& val) {
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values.insert(std::make_pair(name,val));
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return *this;
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}
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/**
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* Add a delta config, needed for use in NonlinearOptimizer
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* For VectorConfig, this is just addition.
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*/
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VectorConfig exmap(const VectorConfig & delta) const;
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/** Scales the configuration by a gain */
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VectorConfig scale(double gain);
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const_iterator begin() const {return values.begin();}
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const_iterator end() const {return values.end();}
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/** get a vector in the configuration by name */
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Vector get(const std::string& name) const;
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/** operator[] syntax for get */
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inline Vector operator[](const std::string& name) const { return get(name); }
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bool contains(const std::string& name) const {
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const_iterator it = values.find(name);
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if (it==values.end())
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return false;
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return true;
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}
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/** size of the configurations */
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size_t size() const {
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return values.size();
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}
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/** print */
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void print(const std::string& name = "") const;
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/** equals, for unit testing */
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bool equals(const VectorConfig& expected, double tol=1e-9) const;
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void clear() {values.clear();}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version)
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{
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ar & BOOST_SERIALIZATION_NVP(values);
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}
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};
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}
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