70 lines
1.7 KiB
C++
70 lines
1.7 KiB
C++
/**
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* @file Ordering.h
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* @brief Ordering of indices for eliminating a factor graph
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* @author Frank Dellaert
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*/
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#pragma once
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#include <list>
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#include <set>
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#include <string>
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#include "Testable.h"
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#include "Key.h"
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namespace gtsam {
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/**
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* @class Ordering
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* @brief ordering of indices for eliminating a factor graph
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*/
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class Ordering: public std::list<Symbol>, public Testable<Ordering> {
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public:
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/** Default constructor creates empty ordering */
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Ordering() { }
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/** Create from a single symbol */
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Ordering(Symbol key) { push_back(key); }
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/** Copy constructor */
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Ordering(const std::list<Symbol>& keys_in) : std::list<Symbol>(keys_in) {}
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/** whether a key exists */
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bool exists(const Symbol& key) { return std::find(begin(), end(), key) != end(); }
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// Testable
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void print(const std::string& s = "Ordering") const;
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bool equals(const Ordering &ord, double tol=0) const;
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/**
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* Remove a set of keys from an ordering
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* @param keys to remove
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* @return a new ordering without the selected keys
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*/
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Ordering subtract(const Ordering& keys) const;
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};
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/**
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* @class Unordered
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* @brief a set of unordered indice
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*/
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class Unordered: public std::set<Symbol>, public Testable<Unordered> {
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public:
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/** Default constructor creates empty ordering */
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Unordered() { }
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/** Create from a single symbol */
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Unordered(Symbol key) { insert(key); }
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/** Copy constructor */
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Unordered(const std::set<Symbol>& keys_in) : std::set<Symbol>(keys_in) {}
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/** whether a key exists */
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bool exists(const Symbol& key) { return find(key) != end(); }
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// Testable
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void print(const std::string& s = "Unordered") const;
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bool equals(const Unordered &t, double tol=0) const;
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};
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}
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