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Formatting

release/4.3a0
dellaert 2015-06-21 13:56:48 -07:00
parent e2d49922d2
commit 22b7d8276a
1 changed files with 200 additions and 195 deletions
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65
gtsam/base/treeTraversal-inst.h
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@ -46,13 +46,15 @@ namespace gtsam {
DATA& parentData;
typename FastList<DATA>::iterator dataPointer;
TraversalNode(const boost::shared_ptr<NODE>& _treeNode, DATA& _parentData) :
expanded(false), treeNode(_treeNode), parentData(_parentData) {}
expanded(false), treeNode(_treeNode), parentData(_parentData) {
}
};
// Do nothing - default argument for post-visitor for tree traversal
struct no_op {
template<typename NODE, typename DATA>
void operator()(const boost::shared_ptr<NODE>& node, const DATA& data) {}
void operator()(const boost::shared_ptr<NODE>& node, const DATA& data) {
}
};
}
@ -71,9 +73,10 @@ namespace gtsam {
* call to \c visitorPre (the \c DATA object may be modified by visiting the children).
* @param rootData The data to pass by reference to \c visitorPre when it is called on each
* root node. */
template<class FOREST, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost)
{
template<class FOREST, typename DATA, typename VISITOR_PRE,
typename VISITOR_POST>
void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre,
VISITOR_POST& visitorPost) {
// Typedefs
typedef typename FOREST::Node Node;
typedef boost::shared_ptr<Node> sharedNode;
@ -92,8 +95,7 @@ namespace gtsam {
}
// Traverse
while(!stack.empty())
{
while (!stack.empty()) {
// Get next node
TraversalNode& node = stack.front();
@ -106,7 +108,8 @@ namespace gtsam {
} else {
// If not already visited, visit the node and add its children (use reverse iterators so
// children are processed in the order they appear)
node.dataPointer = dataList.insert(dataList.end(), visitorPre(node.treeNode, node.parentData));
node.dataPointer = dataList.insert(dataList.end(),
visitorPre(node.treeNode, node.parentData));
typename Stack::iterator insertLocation = stack.begin();
BOOST_FOREACH(const sharedNode& child, node.treeNode->children)
stack.insert(insertLocation, TraversalNode(child, *node.dataPointer));
@ -128,8 +131,7 @@ namespace gtsam {
* @param rootData The data to pass by reference to \c visitorPre when it is called on each
* root node. */
template<class FOREST, typename DATA, typename VISITOR_PRE>
void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre)
{
void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) {
no_op visitorPost;
DepthFirstForest(forest, rootData, visitorPre, visitorPost);
}
@ -148,30 +150,31 @@ namespace gtsam {
* call to \c visitorPre (the \c DATA object may be modified by visiting the children).
* @param rootData The data to pass by reference to \c visitorPre when it is called on each
* root node. */
template<class FOREST, typename DATA, typename VISITOR_PRE, typename VISITOR_POST>
void DepthFirstForestParallel(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost,
int problemSizeThreshold = 10)
{
template<class FOREST, typename DATA, typename VISITOR_PRE,
typename VISITOR_POST>
void DepthFirstForestParallel(FOREST& forest, DATA& rootData,
VISITOR_PRE& visitorPre, VISITOR_POST& visitorPost,
int problemSizeThreshold = 10) {
#ifdef GTSAM_USE_TBB
// Typedefs
typedef typename FOREST::Node Node;
typedef boost::shared_ptr<Node> sharedNode;
tbb::task::spawn_root_and_wait(internal::CreateRootTask<Node>(
forest.roots(), rootData, visitorPre, visitorPost, problemSizeThreshold));
tbb::task::spawn_root_and_wait(
internal::CreateRootTask<Node>(forest.roots(), rootData, visitorPre,
visitorPost, problemSizeThreshold));
#else
DepthFirstForest(forest, rootData, visitorPre, visitorPost);
#endif
}
/* ************************************************************************* */
/** Traversal function for CloneForest */
namespace {
template<typename NODE>
boost::shared_ptr<NODE>
CloneForestVisitorPre(const boost::shared_ptr<NODE>& node, const boost::shared_ptr<NODE>& parentPointer)
{
boost::shared_ptr<NODE> CloneForestVisitorPre(
const boost::shared_ptr<NODE>& node,
const boost::shared_ptr<NODE>& parentPointer) {
// Clone the current node and add it to its cloned parent
boost::shared_ptr<NODE> clone = boost::make_shared<NODE>(*node);
clone->children.clear();
@ -186,24 +189,25 @@ namespace gtsam {
* return a collection of shared pointers to \c FOREST::Node.
* @return The new collection of roots. */
template<class FOREST>
FastVector<boost::shared_ptr<typename FOREST::Node> > CloneForest(const FOREST& forest)
{
FastVector<boost::shared_ptr<typename FOREST::Node> > CloneForest(
const FOREST& forest) {
typedef typename FOREST::Node Node;
boost::shared_ptr<Node> rootContainer = boost::make_shared<Node>();
DepthFirstForest(forest, rootContainer, CloneForestVisitorPre<Node>);
return FastVector<boost::shared_ptr<Node> >(rootContainer->children.begin(), rootContainer->children.end());
return FastVector<boost::shared_ptr<Node> >(rootContainer->children.begin(),
rootContainer->children.end());
}
/* ************************************************************************* */
/** Traversal function for PrintForest */
namespace {
struct PrintForestVisitorPre
{
struct PrintForestVisitorPre {
const KeyFormatter& formatter;
PrintForestVisitorPre(const KeyFormatter& formatter) : formatter(formatter) {}
template<typename NODE> std::string operator()(const boost::shared_ptr<NODE>& node, const std::string& parentString)
{
PrintForestVisitorPre(const KeyFormatter& formatter) :
formatter(formatter) {
}
template<typename NODE> std::string operator()(
const boost::shared_ptr<NODE>& node, const std::string& parentString) {
// Print the current node
node->print(parentString + "-", formatter);
// Increment the indentation
@ -215,7 +219,8 @@ namespace gtsam {
/** Print a tree, prefixing each line with \c str, and formatting keys using \c keyFormatter.
* To print each node, this function calls the \c print function of the tree nodes. */
template<class FOREST>
void PrintForest(const FOREST& forest, std::string str, const KeyFormatter& keyFormatter) {
void PrintForest(const FOREST& forest, std::string str,
const KeyFormatter& keyFormatter) {
PrintForestVisitorPre visitor(keyFormatter);
DepthFirstForest(forest, str, visitor);
}