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