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Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper.

release/4.3a0
cbeall3 2015-06-24 00:35:32 -04:00
parent 348e2144ce
commit 0e022b3b33
6 changed files with 16 additions and 16 deletions
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16
gtsam.h
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@ -1654,12 +1654,12 @@ char symbolChr(size_t key);
size_t symbolIndex(size_t key); size_t symbolIndex(size_t key);
// Default keyformatter // Default keyformatter
void printKeyList (const gtsam::KeyList& keys); void PrintKeyList (const gtsam::KeyList& keys);
void printKeyList (const gtsam::KeyList& keys, string s); void PrintKeyList (const gtsam::KeyList& keys, string s);
void printKeyVector(const gtsam::KeyVector& keys); void PrintKeyVector(const gtsam::KeyVector& keys);
void printKeyVector(const gtsam::KeyVector& keys, string s); void PrintKeyVector(const gtsam::KeyVector& keys, string s);
void printKeySet (const gtsam::KeySet& keys); void PrintKeySet (const gtsam::KeySet& keys);
void printKeySet (const gtsam::KeySet& keys, string s); void PrintKeySet (const gtsam::KeySet& keys, string s);
#include <gtsam/inference/LabeledSymbol.h> #include <gtsam/inference/LabeledSymbol.h>
class LabeledSymbol { class LabeledSymbol {
@ -1776,7 +1776,7 @@ class Values {
void swap(gtsam::Values& values); void swap(gtsam::Values& values);
bool exists(size_t j) const; bool exists(size_t j) const;
gtsam::KeyList keys() const; gtsam::KeyVector keys() const;
gtsam::VectorValues zeroVectors() const; gtsam::VectorValues zeroVectors() const;
@ -1893,8 +1893,6 @@ class KeySet {
class KeyVector { class KeyVector {
KeyVector(); KeyVector();
KeyVector(const gtsam::KeyVector& other); KeyVector(const gtsam::KeyVector& other);
KeyVector(const gtsam::KeySet& other);
KeyVector(const gtsam::KeyList& other);
// Note: no print function // Note: no print function

5
gtsam/nonlinear/Values.cpp
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@ -210,8 +210,9 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
FastList<Key> Values::keys() const { KeyVector Values::keys() const {
FastList<Key> result; KeyVector result;
result.reserve(size());
for(const_iterator key_value = begin(); key_value != end(); ++key_value) for(const_iterator key_value = begin(); key_value != end(); ++key_value)
result.push_back(key_value->key); result.push_back(key_value->key);
return result; return result;

2
gtsam/nonlinear/Values.h
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@ -291,7 +291,7 @@ namespace gtsam {
* Returns a set of keys in the config * Returns a set of keys in the config
* Note: by construction, the list is ordered * Note: by construction, the list is ordered
*/ */
KeyList keys() const; KeyVector keys() const;
/** Replace all keys and variables */ /** Replace all keys and variables */
Values& operator=(const Values& rhs); Values& operator=(const Values& rhs);

5
gtsam/nonlinear/tests/testValues.cpp
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@ -26,6 +26,7 @@
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/list.hpp> // for operator += #include <boost/assign/std/list.hpp> // for operator +=
#include <boost/assign/std/vector.hpp>
#include <boost/assign/list_of.hpp> #include <boost/assign/list_of.hpp>
using namespace boost::assign; using namespace boost::assign;
#include <stdexcept> #include <stdexcept>
@ -308,12 +309,12 @@ TEST(Values, extract_keys)
config.insert(key3, Pose2()); config.insert(key3, Pose2());
config.insert(key4, Pose2()); config.insert(key4, Pose2());
FastList<Key> expected, actual; KeyVector expected, actual;
expected += key1, key2, key3, key4; expected += key1, key2, key3, key4;
actual = config.keys(); actual = config.keys();
CHECK(actual.size() == expected.size()); CHECK(actual.size() == expected.size());
FastList<Key>::const_iterator itAct = actual.begin(), itExp = expected.begin(); KeyVector::const_iterator itAct = actual.begin(), itExp = expected.begin();
for (; itAct != actual.end() && itExp != expected.end(); ++itAct, ++itExp) { for (; itAct != actual.end() && itExp != expected.end(); ++itAct, ++itExp) {
EXPECT(*itExp == *itAct); EXPECT(*itExp == *itAct);
} }

2
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
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@ -230,7 +230,7 @@ void ConcurrentBatchSmoother::reorder() {
// Recalculate the variable index // Recalculate the variable index
variableIndex_ = VariableIndex(factors_); variableIndex_ = VariableIndex(factors_);
FastList<Key> separatorKeys = separatorValues_.keys(); KeyVector separatorKeys = separatorValues_.keys();
ordering_ = Ordering::colamdConstrainedLast(variableIndex_, std::vector<Key>(separatorKeys.begin(), separatorKeys.end())); ordering_ = Ordering::colamdConstrainedLast(variableIndex_, std::vector<Key>(separatorKeys.begin(), separatorKeys.end()));
} }

2
matlab.h
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@ -229,7 +229,7 @@ Values localToWorld(const Values& local, const Pose2& base,
// if no keys given, get all keys from local values // if no keys given, get all keys from local values
FastVector<Key> keys(user_keys); FastVector<Key> keys(user_keys);
if (keys.size()==0) if (keys.size()==0)
keys = FastVector<Key>(local.keys()); keys = local.keys();
// Loop over all keys // Loop over all keys
BOOST_FOREACH(Key key, keys) { BOOST_FOREACH(Key key, keys) {