105 lines
3.3 KiB
C++
105 lines
3.3 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_ID_H_
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#define CARTOGRAPHER_MAPPING_ID_H_
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#include <algorithm>
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#include <ostream>
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#include <tuple>
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#include <vector>
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namespace cartographer {
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namespace mapping {
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// Uniquely identifies a trajectory node using a combination of a unique
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// trajectory ID and a zero-based index of the node inside that trajectory.
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struct NodeId {
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int trajectory_id;
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int node_index;
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bool operator<(const NodeId& other) const {
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return std::forward_as_tuple(trajectory_id, node_index) <
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std::forward_as_tuple(other.trajectory_id, other.node_index);
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}
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};
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inline std::ostream& operator<<(std::ostream& os, const NodeId& v) {
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return os << "(" << v.trajectory_id << ", " << v.node_index << ")";
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}
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// Uniquely identifies a submap using a combination of a unique trajectory ID
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// and a zero-based index of the submap inside that trajectory.
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struct SubmapId {
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int trajectory_id;
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int submap_index;
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bool operator==(const SubmapId& other) const {
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return std::forward_as_tuple(trajectory_id, submap_index) ==
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std::forward_as_tuple(other.trajectory_id, other.submap_index);
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}
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bool operator!=(const SubmapId& other) const { return !operator==(other); }
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bool operator<(const SubmapId& other) const {
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return std::forward_as_tuple(trajectory_id, submap_index) <
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std::forward_as_tuple(other.trajectory_id, other.submap_index);
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}
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};
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inline std::ostream& operator<<(std::ostream& os, const SubmapId& v) {
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return os << "(" << v.trajectory_id << ", " << v.submap_index << ")";
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}
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template <typename ValueType, typename IdType>
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class NestedVectorsById {
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public:
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// Appends data to a trajectory, creating trajectories as needed.
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IdType Append(int trajectory_id, const ValueType& value) {
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data_.resize(std::max<size_t>(data_.size(), trajectory_id + 1));
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const IdType id{trajectory_id,
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static_cast<int>(data_[trajectory_id].size())};
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data_[trajectory_id].push_back(value);
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return id;
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}
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const ValueType& at(const IdType& id) const {
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return data_.at(id.trajectory_id).at(GetIndex(id));
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}
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ValueType& at(const IdType& id) {
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return data_.at(id.trajectory_id).at(GetIndex(id));
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}
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int num_trajectories() const { return static_cast<int>(data_.size()); }
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int num_indices(int trajectory_id) const {
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return static_cast<int>(data_.at(trajectory_id).size());
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}
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// TODO(whess): Remove once no longer needed.
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const std::vector<std::vector<ValueType>> data() const { return data_; }
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private:
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static int GetIndex(const NodeId& id) { return id.node_index; }
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static int GetIndex(const SubmapId& id) { return id.submap_index; }
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std::vector<std::vector<ValueType>> data_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_ID_H_
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