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

gtsam.h

@@ -1654,12 +1654,12 @@ char symbolChr(size_t key);
 size_t symbolIndex(size_t key);
 
 // Default keyformatter
-void printKeyList  (const gtsam::KeyList& keys);
-void printKeyList  (const gtsam::KeyList& keys, string s);
-void printKeyVector(const gtsam::KeyVector& keys);
-void printKeyVector(const gtsam::KeyVector& keys, string s);
-void printKeySet   (const gtsam::KeySet& keys);
-void printKeySet   (const gtsam::KeySet& keys, string s);
+void PrintKeyList  (const gtsam::KeyList& keys);
+void PrintKeyList  (const gtsam::KeyList& keys, string s);
+void PrintKeyVector(const gtsam::KeyVector& keys);
+void PrintKeyVector(const gtsam::KeyVector& keys, string s);
+void PrintKeySet   (const gtsam::KeySet& keys);
+void PrintKeySet   (const gtsam::KeySet& keys, string s);
 
 #include <gtsam/inference/LabeledSymbol.h>
 class LabeledSymbol {
@@ -1776,7 +1776,7 @@ class Values {
   void swap(gtsam::Values& values);
 
   bool exists(size_t j) const;
-  gtsam::KeyList keys() const;
+  gtsam::KeyVector keys() const;
 
   gtsam::VectorValues zeroVectors() const;
 
@@ -1893,8 +1893,6 @@ class KeySet {
 class KeyVector {
   KeyVector();
   KeyVector(const gtsam::KeyVector& other);
-  KeyVector(const gtsam::KeySet& other);
-  KeyVector(const gtsam::KeyList& other);
 
   // Note: no print function
 

gtsam/nonlinear/Values.cpp

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

gtsam/nonlinear/Values.h

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

gtsam/nonlinear/tests/testValues.cpp

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

gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp

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

matlab.h

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