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Added VectorValues update function and comment formatting

release/4.3a0
Richard Roberts 2013-08-09 21:35:44 +00:00
parent 9a10242e96
commit 222bd888ef
2 changed files with 39 additions and 8 deletions
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18
gtsam/linear/VectorValues.cpp
View File

@ -53,6 +53,24 @@ namespace gtsam {
return result;
}
/* ************************************************************************* */
void VectorValues::update(const VectorValues& values)
{
iterator hint = begin();
BOOST_FOREACH(const KeyValuePair& key_value, values)
{
// Use this trick to find the value using a hint, since we are inserting from another sorted map
size_t oldSize = values_.size();
hint = values_.insert(hint, key_value);
if(values_.size() > oldSize) {
values_.erase(hint);
throw std::out_of_range("Requested to update a VectorValues with another VectorValues that contains keys not present in the first.");
} else {
hint->second = key_value.second;
}
}
}
/* ************************************************************************* */
void VectorValues::insert(const VectorValues& values)
{

29
gtsam/linear/VectorValues.h
View File

@ -157,24 +157,31 @@ namespace gtsam {
return item->second;
}
/** Read/write access to the vector value with key \c j, throws std::out_of_range if \c j does not exist, identical to at(Key). */
/** Read/write access to the vector value with key \c j, throws std::out_of_range if \c j does
* not exist, identical to at(Key). */
Vector& operator[](Key j) { return at(j); }
/** Access the vector value with key \c j (const version), throws std::out_of_range if \c j does not exist, identical to at(Key). */
/** Access the vector value with key \c j (const version), throws std::out_of_range if \c j does
* not exist, identical to at(Key). */
const Vector& operator[](Key j) const { return at(j); }
/** Insert a vector \c value with key \c j. Throws an invalid_argument exception if the key \c j is already used.
/** For all key/value pairs in \c values, replace values with corresponding keys in this class
* with those in \c values. Throws std::out_of_range if any keys in \c values are not present
* in this class. */
void update(const VectorValues& values);
/** Insert a vector \c value with key \c j. Throws an invalid_argument exception if the key \c
* j is already used.
* @param value The vector to be inserted.
* @param j The index with which the value will be associated.
*/
* @param j The index with which the value will be associated. */
void insert(Key j, const Vector& value) {
insert(std::pair<Key, const Vector&>(j, value)); // Note only passing a reference to the Vector
}
/** Insert a vector \c value with key \c j. Throws an invalid_argument exception if the key \c j is already used.
/** Insert a vector \c value with key \c j. Throws an invalid_argument exception if the key \c
* j is already used.
* @param value The vector to be inserted.
* @param j The index with which the value will be associated.
*/
* @param j The index with which the value will be associated. */
void insert(std::pair<Key, const Vector&> key_value) {
// Note that here we accept a pair with a reference to the Vector, but the Vector is copied as
// it is inserted into the values_ map.
@ -195,6 +202,12 @@ namespace gtsam {
std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
return values_.insert(std::make_pair(j, value)); }
/** Erase the vector with the given key, or throw std::out_of_range if it does not exist */
void erase(Key var) {
if(values_.erase(var) == 0)
throw std::invalid_argument("Requested variable '" + DefaultKeyFormatter(var) + "', is not in this VectorValues.");
}
/** Set all values to zero vectors. */
void setZero();