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Added back factor graph .add functions to maintain compatibility

release/4.3a0
Richard Roberts 2013-08-27 15:30:02 +00:00
parent 06548ec8a9
commit 0fc7c068e5
3 changed files with 46 additions and 61 deletions
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1
gtsam.h
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@ -1522,6 +1522,7 @@ class NonlinearFactorGraph {
gtsam::NonlinearFactor* at(size_t idx) const;
void push_back(const gtsam::NonlinearFactorGraph& factors);
void push_back(gtsam::NonlinearFactor* factor);
void add(gtsam::NonlinearFactor* factor);
bool exists(size_t idx) const;
// NonlinearFactorGraph

102
gtsam/inference/FactorGraph.h
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@ -180,69 +180,19 @@ namespace gtsam {
bayesTree.addFactorsToGraph(*this);
}
/** += syntax for push_back, e.g. graph += f1, f2, f3 */
//template<class T>
//boost::assign::list_inserter<boost::function<void(const T&)> >
// operator+=(const T& factorOrContainer)
//{
// return boost::assign::make_list_inserter(
// boost::bind(&This::push_back<T>, this, _1));
//}
/** Add a factor directly using a shared_ptr */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR>,
boost::assign::list_inserter<RefCallPushBack<This> > >::type
operator+=(boost::shared_ptr<DERIVEDFACTOR>& factor) {
return boost::assign::make_list_inserter(RefCallPushBack<This>(*this))(factor);
}
/** Add a factor directly using a shared_ptr */
boost::assign::list_inserter<CRefCallPushBack<This> >
operator+=(const sharedFactor& factor) {
return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this))(factor);
}
template<class FACTOR_OR_CONTAINER>
boost::assign::list_inserter<CRefCallPushBack<This> >
operator+=(const FACTOR_OR_CONTAINER& factorOrContainer) {
return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this))(factorOrContainer);
}
///** Add a factor directly using a shared_ptr */
//boost::assign::list_inserter<CRefCallPushBack<This> >
// operator+=(const sharedFactor& factor) {
// return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this));
//}
///** push back many factors as shared_ptr's in a container (factors are not copied) */
//template<typename CONTAINER>
//typename boost::enable_if<boost::is_base_of<FactorType, typename CONTAINER::value_type::element_type>,
// boost::assign::list_inserter<CRefCallPushBack<This> > >::type
// operator+=(const CONTAINER& container) {
// return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this));
//}
///** push back a BayesTree as a collection of factors. NOTE: This should be hidden in derived
// * classes in favor of a type-specialized version that calls this templated function. */
//template<class CLIQUE>
//boost::assign::list_inserter<CRefCallPushBack<This> >
// operator+=(const BayesTree<CLIQUE>& bayesTree) {
// return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this));
//}
/** Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid
* the copy). */
* the copy). */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR> >::type
push_back(const DERIVEDFACTOR& factor) {
factors_.push_back(boost::make_shared<DERIVEDFACTOR>(factor)); }
factors_.push_back(boost::make_shared<DERIVEDFACTOR>(factor));
}
/** push back many factors with an iterator over plain factors (factors are copied) */
template<typename ITERATOR>
typename boost::enable_if<boost::is_base_of<FactorType, typename ITERATOR::value_type> >::type
push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
for(ITERATOR f = firstFactor; f != lastFactor; ++f)
for (ITERATOR f = firstFactor; f != lastFactor; ++f)
push_back(*f);
}
@ -253,11 +203,45 @@ namespace gtsam {
push_back(container.begin(), container.end());
}
//template<class FACTOR_OR_CONTAINER>
//boost::assign::list_inserter<CRefCallPushBack<This> >
// operator*=(const FACTOR_OR_CONTAINER& factorOrContainer) {
// return boost::assign::make_list_inserter(CRefCallAddCopy<This>(*this));
//}
/** Add a factor directly using a shared_ptr */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR>,
boost::assign::list_inserter<RefCallPushBack<This> > >::type
operator+=(boost::shared_ptr<DERIVEDFACTOR> factor) {
return boost::assign::make_list_inserter(RefCallPushBack<This>(*this))(factor);
}
/** Add a factor directly using a shared_ptr */
boost::assign::list_inserter<CRefCallPushBack<This> >
operator+=(const sharedFactor& factor) {
return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this))(factor);
}
/** Add a factor or container of factors, including STL collections, BayesTrees, etc. */
template<class FACTOR_OR_CONTAINER>
boost::assign::list_inserter<CRefCallPushBack<This> >
operator+=(const FACTOR_OR_CONTAINER& factorOrContainer) {
return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this))(factorOrContainer);
}
/** Add a factor directly using a shared_ptr */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR>,
boost::assign::list_inserter<RefCallPushBack<This> > >::type
add(boost::shared_ptr<DERIVEDFACTOR> factor) {
push_back(factor);
}
/** Add a factor directly using a shared_ptr */
void add(const sharedFactor& factor) {
push_back(factor);
}
/** Add a factor or container of factors, including STL collections, BayesTrees, etc. */
template<class FACTOR_OR_CONTAINER>
void add(const FACTOR_OR_CONTAINER& factorOrContainer) {
push_back(Factor);
}
/// @}
/// @name Testable

4
gtsam/linear/GaussianFactorGraph.h
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@ -96,10 +96,10 @@ namespace gtsam {
/// @}
/** Add a factor by value - makes a copy */
void add(const GaussianFactor& factor) { factors_.push_back(factor.clone()); }
void add(const GaussianFactor& factor) { push_back(factor.clone()); }
/** Add a factor by pointer - stores pointer without copying the factor */
void add(const sharedFactor& factor) { factors_.push_back(factor); }
void add(const sharedFactor& factor) { push_back(factor); }
/** Add a null factor */
void add(const Vector& b) {