Simplified Values code by moving internal implementation to inline header file

gtsam/nonlinear/Values-inl.h

@@ -40,6 +40,170 @@ namespace gtsam {
     ValueCloneAllocator() {}
   };
 
+  /* ************************************************************************* */
+  template<class ValueType>
+  struct _ValuesKeyValuePair {
+    const Key key; ///< The key
+    ValueType& value;  ///< The value
+
+    _ValuesKeyValuePair(Key _key, ValueType& _value) : key(_key), value(_value) {}
+  };
+
+  /* ************************************************************************* */
+  template<class ValueType>
+  struct _ValuesConstKeyValuePair {
+    const Key key; ///< The key
+    const ValueType& value;  ///< The value
+
+    _ValuesConstKeyValuePair(Key _key, const ValueType& _value) : key(_key), value(_value) {}
+    _ValuesConstKeyValuePair(const _ValuesKeyValuePair<ValueType>& rhs) : key(rhs.key), value(rhs.value) {}
+  };
+
+  /* ************************************************************************* */
+  template<class ValueType>
+  class Values::Filtered {
+  public:
+    /** A key-value pair, with the value a specific derived Value type. */
+    typedef _ValuesKeyValuePair<ValueType> KeyValuePair;
+    typedef _ValuesConstKeyValuePair<ValueType> ConstKeyValuePair;
+    typedef KeyValuePair value_type;
+
+    typedef
+      boost::transform_iterator<
+      KeyValuePair(*)(Values::KeyValuePair),
+      boost::filter_iterator<
+      boost::function<bool(const Values::ConstKeyValuePair&)>,
+      Values::iterator> >
+      iterator;
+
+    typedef iterator const_iterator;
+
+    typedef
+      boost::transform_iterator<
+      ConstKeyValuePair(*)(Values::ConstKeyValuePair),
+      boost::filter_iterator<
+      boost::function<bool(const Values::ConstKeyValuePair&)>,
+      Values::const_iterator> >
+      const_const_iterator;
+
+    iterator begin() { return begin_; }
+    iterator end() { return end_; }
+    const_iterator begin() const { return begin_; }
+    const_iterator end() const { return end_; }
+    const_const_iterator beginConst() const { return constBegin_; }
+    const_const_iterator endConst() const { return constEnd_; }
+
+    /** Returns the number of values in this view */
+    size_t size() const {
+      size_t i = 0;
+      for (const_const_iterator it = beginConst(); it != endConst(); ++it)
+        ++i;
+      return i;
+    }
+
+  private:
+    Filtered(const boost::function<bool(const Values::ConstKeyValuePair&)>& filter, Values& values) :
+      begin_(boost::make_transform_iterator(
+      boost::make_filter_iterator(
+      filter, values.begin(), values.end()),
+      &castHelper<ValueType, KeyValuePair, Values::KeyValuePair>)),
+      end_(boost::make_transform_iterator(
+      boost::make_filter_iterator(
+      filter, values.end(), values.end()),
+      &castHelper<ValueType, KeyValuePair, Values::KeyValuePair>)),
+      constBegin_(boost::make_transform_iterator(
+      boost::make_filter_iterator(
+      filter, ((const Values&)values).begin(), ((const Values&)values).end()),
+      &castHelper<const ValueType, ConstKeyValuePair, Values::ConstKeyValuePair>)),
+      constEnd_(boost::make_transform_iterator(
+      boost::make_filter_iterator(
+      filter, ((const Values&)values).end(), ((const Values&)values).end()),
+      &castHelper<const ValueType, ConstKeyValuePair, Values::ConstKeyValuePair>)) {}
+
+    friend class Values;
+    iterator begin_;
+    iterator end_;
+    const_const_iterator constBegin_;
+    const_const_iterator constEnd_;
+  };
+
+  /* ************************************************************************* */
+  template<class ValueType>
+  class Values::ConstFiltered {
+  public:
+    /** A const key-value pair, with the value a specific derived Value type. */
+    typedef _ValuesConstKeyValuePair<ValueType> KeyValuePair;
+    typedef KeyValuePair value_type;
+
+    typedef typename Filtered<ValueType>::const_const_iterator iterator;
+    typedef typename Filtered<ValueType>::const_const_iterator const_iterator;
+
+    /** Conversion from Filtered to ConstFiltered */
+    ConstFiltered(const Filtered<ValueType>& rhs) :
+      begin_(rhs.beginConst()),
+      end_(rhs.endConst()) {}
+
+    iterator begin() { return begin_; }
+    iterator end() { return end_; }
+    const_iterator begin() const { return begin_; }
+    const_iterator end() const { return end_; }
+
+    /** Returns the number of values in this view */
+    size_t size() const {
+      size_t i = 0;
+      for (const_iterator it = begin(); it != end(); ++it)
+        ++i;
+      return i;
+    }
+
+  private:
+    friend class Values;
+    const_iterator begin_;
+    const_iterator end_;
+    ConstFiltered(const boost::function<bool(const Values::ConstKeyValuePair&)>& filter, const Values& values) {
+      // We remove the const from values to create a non-const Filtered
+      // view, then pull the const_iterators out of it.
+      const Filtered<ValueType> filtered(filter, const_cast<Values&>(values));
+      begin_ = filtered.beginConst();
+      end_ = filtered.endConst();
+    }
+  };
+
+  /* ************************************************************************* */
+  template<class ValueType>
+  Values::Values(const Values::ConstFiltered<ValueType>& view) {
+    BOOST_FOREACH(const typename ConstFiltered<ValueType>::KeyValuePair& key_value, view) {
+      Key key = key_value.key;
+      insert(key, key_value.value);
+    }
+  }
+
+  /* ************************************************************************* */
+  Values::Filtered<Value>
+  inline Values::filter(const boost::function<bool(Key)>& filterFcn) {
+    return filter<Value>(filterFcn);
+  }
+
+  /* ************************************************************************* */
+  template<class ValueType>
+  Values::Filtered<ValueType>
+  Values::filter(const boost::function<bool(Key)>& filterFcn) {
+    return Filtered<ValueType>(boost::bind(&filterHelper<ValueType>, filterFcn, _1), *this);
+  }
+
+  /* ************************************************************************* */
+  Values::ConstFiltered<Value>
+  inline Values::filter(const boost::function<bool(Key)>& filterFcn) const {
+    return filter<Value>(filterFcn);
+  }
+
+  /* ************************************************************************* */
+  template<class ValueType>
+  Values::ConstFiltered<ValueType>
+  Values::filter(const boost::function<bool(Key)>& filterFcn) const {
+    return ConstFiltered<ValueType>(boost::bind(&filterHelper<ValueType>, filterFcn, _1), *this);
+  }
+
   /* ************************************************************************* */
   template<typename ValueType>
   const ValueType& Values::at(Key j) const {

gtsam/nonlinear/Values.h

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