Simplified Values code by moving internal implementation to inline header file
Richard Roberts
parent
5bcb0de588
commit
1b5b4d494e
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@ -40,6 +40,170 @@ namespace gtsam {
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ValueCloneAllocator() {}
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};
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/* ************************************************************************* */
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template<class ValueType>
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struct _ValuesKeyValuePair {
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const Key key; ///< The key
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ValueType& value; ///< The value
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_ValuesKeyValuePair(Key _key, ValueType& _value) : key(_key), value(_value) {}
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};
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/* ************************************************************************* */
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template<class ValueType>
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struct _ValuesConstKeyValuePair {
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const Key key; ///< The key
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const ValueType& value; ///< The value
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_ValuesConstKeyValuePair(Key _key, const ValueType& _value) : key(_key), value(_value) {}
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_ValuesConstKeyValuePair(const _ValuesKeyValuePair<ValueType>& rhs) : key(rhs.key), value(rhs.value) {}
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};
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/* ************************************************************************* */
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template<class ValueType>
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class Values::Filtered {
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public:
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/** A key-value pair, with the value a specific derived Value type. */
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typedef _ValuesKeyValuePair<ValueType> KeyValuePair;
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typedef _ValuesConstKeyValuePair<ValueType> ConstKeyValuePair;
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typedef KeyValuePair value_type;
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typedef
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boost::transform_iterator<
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KeyValuePair(*)(Values::KeyValuePair),
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boost::filter_iterator<
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boost::function<bool(const Values::ConstKeyValuePair&)>,
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Values::iterator> >
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iterator;
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typedef iterator const_iterator;
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typedef
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boost::transform_iterator<
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ConstKeyValuePair(*)(Values::ConstKeyValuePair),
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boost::filter_iterator<
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boost::function<bool(const Values::ConstKeyValuePair&)>,
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Values::const_iterator> >
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const_const_iterator;
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iterator begin() { return begin_; }
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iterator end() { return end_; }
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const_iterator begin() const { return begin_; }
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const_iterator end() const { return end_; }
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const_const_iterator beginConst() const { return constBegin_; }
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const_const_iterator endConst() const { return constEnd_; }
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/** Returns the number of values in this view */
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size_t size() const {
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size_t i = 0;
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for (const_const_iterator it = beginConst(); it != endConst(); ++it)
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++i;
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return i;
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}
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private:
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Filtered(const boost::function<bool(const Values::ConstKeyValuePair&)>& filter, Values& values) :
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begin_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, values.begin(), values.end()),
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&castHelper<ValueType, KeyValuePair, Values::KeyValuePair>)),
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end_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, values.end(), values.end()),
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&castHelper<ValueType, KeyValuePair, Values::KeyValuePair>)),
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constBegin_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, ((const Values&)values).begin(), ((const Values&)values).end()),
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&castHelper<const ValueType, ConstKeyValuePair, Values::ConstKeyValuePair>)),
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constEnd_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, ((const Values&)values).end(), ((const Values&)values).end()),
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&castHelper<const ValueType, ConstKeyValuePair, Values::ConstKeyValuePair>)) {}
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friend class Values;
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iterator begin_;
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iterator end_;
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const_const_iterator constBegin_;
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const_const_iterator constEnd_;
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};
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/* ************************************************************************* */
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template<class ValueType>
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class Values::ConstFiltered {
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public:
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/** A const key-value pair, with the value a specific derived Value type. */
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typedef _ValuesConstKeyValuePair<ValueType> KeyValuePair;
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typedef KeyValuePair value_type;
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typedef typename Filtered<ValueType>::const_const_iterator iterator;
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typedef typename Filtered<ValueType>::const_const_iterator const_iterator;
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/** Conversion from Filtered to ConstFiltered */
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ConstFiltered(const Filtered<ValueType>& rhs) :
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begin_(rhs.beginConst()),
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end_(rhs.endConst()) {}
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iterator begin() { return begin_; }
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iterator end() { return end_; }
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const_iterator begin() const { return begin_; }
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const_iterator end() const { return end_; }
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/** Returns the number of values in this view */
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size_t size() const {
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size_t i = 0;
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for (const_iterator it = begin(); it != end(); ++it)
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++i;
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return i;
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}
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private:
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friend class Values;
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const_iterator begin_;
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const_iterator end_;
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ConstFiltered(const boost::function<bool(const Values::ConstKeyValuePair&)>& filter, const Values& values) {
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// We remove the const from values to create a non-const Filtered
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// view, then pull the const_iterators out of it.
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const Filtered<ValueType> filtered(filter, const_cast<Values&>(values));
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begin_ = filtered.beginConst();
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end_ = filtered.endConst();
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}
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};
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/* ************************************************************************* */
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template<class ValueType>
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Values::Values(const Values::ConstFiltered<ValueType>& view) {
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BOOST_FOREACH(const typename ConstFiltered<ValueType>::KeyValuePair& key_value, view) {
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Key key = key_value.key;
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insert(key, key_value.value);
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}
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}
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/* ************************************************************************* */
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Values::Filtered<Value>
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inline Values::filter(const boost::function<bool(Key)>& filterFcn) {
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return filter<Value>(filterFcn);
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}
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/* ************************************************************************* */
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template<class ValueType>
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Values::Filtered<ValueType>
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Values::filter(const boost::function<bool(Key)>& filterFcn) {
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return Filtered<ValueType>(boost::bind(&filterHelper<ValueType>, filterFcn, _1), *this);
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}
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/* ************************************************************************* */
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Values::ConstFiltered<Value>
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inline Values::filter(const boost::function<bool(Key)>& filterFcn) const {
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return filter<Value>(filterFcn);
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}
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/* ************************************************************************* */
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template<class ValueType>
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Values::ConstFiltered<ValueType>
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Values::filter(const boost::function<bool(Key)>& filterFcn) const {
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return ConstFiltered<ValueType>(boost::bind(&filterHelper<ValueType>, filterFcn, _1), *this);
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}
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/* ************************************************************************* */
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template<typename ValueType>
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const ValueType& Values::at(Key j) const {
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@ -122,133 +122,15 @@ namespace gtsam {
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typedef KeyValuePair value_type;
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private:
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template<class ValueType>
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struct _KeyValuePair {
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const Key key; ///< The key
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ValueType& value; ///< The value
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_KeyValuePair(Key _key, ValueType& _value) : key(_key), value(_value) {}
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};
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template<class ValueType>
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struct _ConstKeyValuePair {
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const Key key; ///< The key
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const ValueType& value; ///< The value
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_ConstKeyValuePair(Key _key, const ValueType& _value) : key(_key), value(_value) {}
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_ConstKeyValuePair(const _KeyValuePair<ValueType>& rhs) : key(rhs.key), value(rhs.value) {}
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};
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public:
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/** A filtered view of a Values, returned from Values::filter. */
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template<class ValueType = Value>
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class Filtered {
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public:
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/** A key-value pair, with the value a specific derived Value type. */
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typedef _KeyValuePair<ValueType> KeyValuePair;
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typedef _ConstKeyValuePair<ValueType> ConstKeyValuePair;
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typedef KeyValuePair value_type;
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typedef
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boost::transform_iterator<
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KeyValuePair(*)(Values::KeyValuePair),
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boost::filter_iterator<
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boost::function<bool(const Values::ConstKeyValuePair&)>,
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Values::iterator> >
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iterator;
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typedef iterator const_iterator;
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typedef
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boost::transform_iterator<
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ConstKeyValuePair(*)(Values::ConstKeyValuePair),
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boost::filter_iterator<
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boost::function<bool(const Values::ConstKeyValuePair&)>,
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Values::const_iterator> >
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const_const_iterator;
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iterator begin() { return begin_; }
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iterator end() { return end_; }
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const_iterator begin() const { return begin_; }
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const_iterator end() const { return end_; }
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const_const_iterator beginConst() const { return constBegin_; }
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const_const_iterator endConst() const { return constEnd_; }
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/** Returns the number of values in this view */
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size_t size() const {
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size_t i = 0;
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for (const_const_iterator it = beginConst(); it != endConst(); ++it)
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++i;
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return i;
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}
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private:
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Filtered(const boost::function<bool(const Values::ConstKeyValuePair&)>& filter, Values& values) :
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begin_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, values.begin(), values.end()),
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&castHelper<ValueType, KeyValuePair, Values::KeyValuePair>)),
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end_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, values.end(), values.end()),
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&castHelper<ValueType, KeyValuePair, Values::KeyValuePair>)),
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constBegin_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, ((const Values&)values).begin(), ((const Values&)values).end()),
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&castHelper<const ValueType, ConstKeyValuePair, Values::ConstKeyValuePair>)),
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constEnd_(boost::make_transform_iterator(
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boost::make_filter_iterator(
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filter, ((const Values&)values).end(), ((const Values&)values).end()),
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&castHelper<const ValueType, ConstKeyValuePair, Values::ConstKeyValuePair>)) {}
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friend class Values;
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iterator begin_;
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iterator end_;
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const_const_iterator constBegin_;
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const_const_iterator constEnd_;
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};
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class Filtered;
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/** A filtered view of a const Values, returned from Values::filter. */
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template<class ValueType = Value>
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class ConstFiltered {
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public:
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/** A const key-value pair, with the value a specific derived Value type. */
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typedef _ConstKeyValuePair<ValueType> KeyValuePair;
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typedef KeyValuePair value_type;
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typedef typename Filtered<ValueType>::const_const_iterator iterator;
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typedef typename Filtered<ValueType>::const_const_iterator const_iterator;
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/** Conversion from Filtered to ConstFiltered */
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ConstFiltered(const Filtered<ValueType>& rhs) :
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begin_(rhs.beginConst()),
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end_(rhs.endConst()) {}
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iterator begin() { return begin_; }
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iterator end() { return end_; }
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const_iterator begin() const { return begin_; }
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const_iterator end() const { return end_; }
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/** Returns the number of values in this view */
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size_t size() const {
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size_t i = 0;
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for (const_iterator it = begin(); it != end(); ++it)
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++i;
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return i;
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}
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private:
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friend class Values;
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const_iterator begin_;
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const_iterator end_;
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ConstFiltered(const boost::function<bool(const Values::ConstKeyValuePair&)>& filter, const Values& values) {
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// We remove the const from values to create a non-const Filtered
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// view, then pull the const_iterators out of it.
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const Filtered<ValueType> filtered(filter, const_cast<Values&>(values));
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begin_ = filtered.beginConst();
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end_ = filtered.endConst();
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}
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};
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class ConstFiltered;
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/** Default constructor creates an empty Values class */
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Values() {}
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@ -256,23 +138,9 @@ namespace gtsam {
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/** Copy constructor duplicates all keys and values */
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Values(const Values& other);
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/** Constructor from a Filtered view copies out all values */
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/** Constructor from a Filtered or ConstFiltered view */
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template<class ValueType>
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Values(const Filtered<ValueType>& view) {
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BOOST_FOREACH(const typename Filtered<ValueType>::KeyValuePair& key_value, view) {
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Key key = key_value.key;
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insert(key, key_value.value);
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}
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}
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/** Constructor from Const Filtered view */
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template<class ValueType>
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Values(const ConstFiltered<ValueType>& view) {
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BOOST_FOREACH(const typename ConstFiltered<ValueType>::KeyValuePair& key_value, view) {
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Key key = key_value.key;
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insert(key, key_value.value);
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}
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}
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Values(const ConstFiltered<ValueType>& view);
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/// @name Testable
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/// @{
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@ -323,12 +191,6 @@ namespace gtsam {
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/** Get a zero VectorValues of the correct structure */
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VectorValues zeroVectors(const Ordering& ordering) const;
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private:
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static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) {
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return ConstKeyValuePair(key_value.first, *key_value.second); }
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static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) {
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return KeyValuePair(key_value.first, *key_value.second); }
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public:
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const_iterator begin() const { return boost::make_transform_iterator(values_.begin(), &make_const_deref_pair); }
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const_iterator end() const { return boost::make_transform_iterator(values_.end(), &make_const_deref_pair); }
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@ -411,9 +273,7 @@ namespace gtsam {
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* the original Values class.
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*/
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Filtered<Value>
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filter(const boost::function<bool(Key)>& filterFcn) {
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return filter<Value>(filterFcn);
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}
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filter(const boost::function<bool(Key)>& filterFcn);
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/**
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* Return a filtered view of this Values class, without copying any data.
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@ -436,9 +296,7 @@ namespace gtsam {
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*/
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template<class ValueType>
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Filtered<ValueType>
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filter(const boost::function<bool(Key)>& filterFcn = (boost::lambda::_1, true)) {
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return Filtered<ValueType>(boost::bind(&filterHelper<ValueType>, filterFcn, _1), *this);
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}
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filter(const boost::function<bool(Key)>& filterFcn = (boost::lambda::_1, true));
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/**
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* Return a filtered view of this Values class, without copying any data.
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@ -454,9 +312,7 @@ namespace gtsam {
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* the original Values class.
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*/
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ConstFiltered<Value>
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filter(const boost::function<bool(Key)>& filterFcn) const {
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return filter<Value>(filterFcn);
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}
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filter(const boost::function<bool(Key)>& filterFcn) const;
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/**
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* Return a filtered view of this Values class, without copying any data.
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@ -478,9 +334,7 @@ namespace gtsam {
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*/
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template<class ValueType>
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ConstFiltered<ValueType>
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filter(const boost::function<bool(Key)>& filterFcn = (boost::lambda::_1, true)) const {
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return ConstFiltered<ValueType>(boost::bind(&filterHelper<ValueType>, filterFcn, _1), *this);
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}
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filter(const boost::function<bool(Key)>& filterFcn = (boost::lambda::_1, true)) const;
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private:
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// Filters based on ValueType (if not Value) and also based on the user-
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@ -505,6 +359,12 @@ namespace gtsam {
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ar & BOOST_SERIALIZATION_NVP(values_);
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}
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static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) {
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return ConstKeyValuePair(key_value.first, *key_value.second); }
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static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) {
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return KeyValuePair(key_value.first, *key_value.second); }
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};
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/* ************************************************************************* */
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