125 lines
4.8 KiB
C++
125 lines
4.8 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file FixedLagSmoother.cpp
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* @brief The base class for different fixed-lag smoother implementations.
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*
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* @author Stephen Williams
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* @date Feb 27, 2013
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*/
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#include <gtsam/nonlinear/FixedLagSmoother.h>
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namespace gtsam {
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/* ************************************************************************* */
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void FixedLagSmoother::Result::print() const {
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std::cout << "Nr iterations: " << iterations << '\n'
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<< "Nr intermediateSteps: " << intermediateSteps << '\n'
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<< "Nr nonlinear variables: " << nonlinearVariables << '\n'
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<< "Nr linear variables: " << linearVariables << '\n'
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<< "error: " << error << std::endl;
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}
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/* ************************************************************************* */
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void FixedLagSmoother::print(const std::string& s, const KeyFormatter& keyFormatter) const {
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std::cout << s;
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std::cout << " smoother lag: " << smootherLag_ << std::endl;
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}
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/* ************************************************************************* */
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bool FixedLagSmoother::equals(const FixedLagSmoother& rhs, double tol) const {
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return std::abs(smootherLag_ - rhs.smootherLag_) < tol
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&& std::equal(timestampKeyMap_.begin(), timestampKeyMap_.end(), rhs.timestampKeyMap_.begin());
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}
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/* ************************************************************************* */
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void FixedLagSmoother::updateKeyTimestampMap(const KeyTimestampMap& timestamps) {
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// Loop through each key and add/update it in the map
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for(const auto& key_timestamp: timestamps) {
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// Check to see if this key already exists in the database
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KeyTimestampMap::iterator keyIter = keyTimestampMap_.find(key_timestamp.first);
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// If the key already exists
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if(keyIter != keyTimestampMap_.end()) {
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// Find the entry in the Timestamp-Key database
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std::pair<TimestampKeyMap::iterator,TimestampKeyMap::iterator> range = timestampKeyMap_.equal_range(keyIter->second);
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TimestampKeyMap::iterator timeIter = range.first;
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while(timeIter->second != key_timestamp.first) {
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++timeIter;
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}
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// remove the entry in the Timestamp-Key database
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timestampKeyMap_.erase(timeIter);
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// insert an entry at the new time
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timestampKeyMap_.insert(TimestampKeyMap::value_type(key_timestamp.second, key_timestamp.first));
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// update the Key-Timestamp database
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keyIter->second = key_timestamp.second;
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} else {
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// Add the Key-Timestamp database
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keyTimestampMap_.insert(key_timestamp);
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// Add the key to the Timestamp-Key database
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timestampKeyMap_.insert(TimestampKeyMap::value_type(key_timestamp.second, key_timestamp.first));
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}
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}
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}
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/* ************************************************************************* */
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void FixedLagSmoother::eraseKeyTimestampMap(const KeyVector& keys) {
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for(Key key: keys) {
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// Erase the key from the Timestamp->Key map
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double timestamp = keyTimestampMap_.at(key);
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TimestampKeyMap::iterator iter = timestampKeyMap_.lower_bound(timestamp);
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while(iter != timestampKeyMap_.end() && iter->first == timestamp) {
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if(iter->second == key) {
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timestampKeyMap_.erase(iter++);
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} else {
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++iter;
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}
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}
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// Erase the key from the Key->Timestamp map
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keyTimestampMap_.erase(key);
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}
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}
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/* ************************************************************************* */
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double FixedLagSmoother::getCurrentTimestamp() const {
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if(timestampKeyMap_.size() > 0) {
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return timestampKeyMap_.rbegin()->first;
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} else {
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return -std::numeric_limits<double>::max();
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}
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}
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/* ************************************************************************* */
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KeyVector FixedLagSmoother::findKeysBefore(double timestamp) const {
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KeyVector keys;
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TimestampKeyMap::const_iterator end = timestampKeyMap_.lower_bound(timestamp);
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for(TimestampKeyMap::const_iterator iter = timestampKeyMap_.begin(); iter != end; ++iter) {
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keys.push_back(iter->second);
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}
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return keys;
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}
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/* ************************************************************************* */
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KeyVector FixedLagSmoother::findKeysAfter(double timestamp) const {
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KeyVector keys;
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TimestampKeyMap::const_iterator begin = timestampKeyMap_.upper_bound(timestamp);
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for(TimestampKeyMap::const_iterator iter = begin; iter != timestampKeyMap_.end(); ++iter) {
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keys.push_back(iter->second);
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}
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return keys;
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}
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/* ************************************************************************* */
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} /// namespace gtsam
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