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print variants for KeyList, KeyVector

release/4.3a0
dellaert 2014-05-06 13:21:49 -04:00
parent 9395bb0913
commit 2649b0fd7a
4 changed files with 974 additions and 937 deletions
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1862
.cproject
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8
gtsam.h
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@ -1551,8 +1551,12 @@ char symbolChr(size_t key);
size_t symbolIndex(size_t key); size_t symbolIndex(size_t key);
// Default keyformatter // Default keyformatter
void printKeySet(const gtsam::KeySet& keys); void printKeyList (const gtsam::KeyList& keys);
void printKeySet(const gtsam::KeySet& keys, string s); void printKeyList (const gtsam::KeyList& keys, string s);
void printKeyVector(const gtsam::KeyVector& keys);
void printKeyVector(const gtsam::KeyVector& keys, string s);
void printKeySet (const gtsam::KeySet& keys);
void printKeySet (const gtsam::KeySet& keys, string s);
#include <gtsam/inference/LabeledSymbol.h> #include <gtsam/inference/LabeledSymbol.h>
class LabeledSymbol { class LabeledSymbol {

33
gtsam/inference/Key.cpp
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@ -27,31 +27,48 @@
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
std::string _multirobotKeyFormatter(gtsam::Key key) { std::string _multirobotKeyFormatter(Key key) {
const LabeledSymbol asLabeledSymbol(key); const LabeledSymbol asLabeledSymbol(key);
if(asLabeledSymbol.chr() > 0 && asLabeledSymbol.label() > 0) if (asLabeledSymbol.chr() > 0 && asLabeledSymbol.label() > 0)
return (std::string)asLabeledSymbol; return (std::string) asLabeledSymbol;
const gtsam::Symbol asSymbol(key); const Symbol asSymbol(key);
if (asLabeledSymbol.chr() > 0) if (asLabeledSymbol.chr() > 0)
return (std::string)asSymbol; return (std::string) asSymbol;
else else
return boost::lexical_cast<std::string>(key); return boost::lexical_cast<std::string>(key);
} }
/* ************************************************************************* */ /* ************************************************************************* */
void printKeySet(const gtsam::KeySet& keys, const std::string& s, const KeyFormatter& keyFormatter) { template<class CONTAINER>
static void print(const CONTAINER& keys, const std::string& s,
const KeyFormatter& keyFormatter) {
std::cout << s << " "; std::cout << s << " ";
if (keys.empty()) if (keys.empty())
std::cout << "(none)" << std::endl; std::cout << "(none)" << std::endl;
else { else {
BOOST_FOREACH(const gtsam::Key& key, keys) BOOST_FOREACH(const Key& key, keys)
std::cout << keyFormatter(key) << " "; std::cout << keyFormatter(key) << " ";
std::cout << std::endl; std::cout << std::endl;
} }
} }
/* ************************************************************************* */
void printKeyList(const KeyList& keys, const std::string& s,
const KeyFormatter& keyFormatter) {
print(keys, s, keyFormatter);
}
/* ************************************************************************* */
void printKeyVector(const KeyVector& keys, const std::string& s,
const KeyFormatter& keyFormatter) {
print(keys, s, keyFormatter);
}
/* ************************************************************************* */
void printKeySet(const KeySet& keys, const std::string& s,
const KeyFormatter& keyFormatter) {
print(keys, s, keyFormatter);
}
/* ************************************************************************* */ /* ************************************************************************* */
} // \namespace gtsam } // \namespace gtsam

8
gtsam/inference/Key.h
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@ -46,6 +46,14 @@ namespace gtsam {
typedef FastSet<Key> KeySet; typedef FastSet<Key> KeySet;
typedef FastMap<Key,int> KeyGroupMap; typedef FastMap<Key,int> KeyGroupMap;
/// Utility function to print sets of keys with optional prefix
GTSAM_EXPORT void printKeyList(const KeyList& keys, const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter);
/// Utility function to print sets of keys with optional prefix
GTSAM_EXPORT void printKeyVector(const KeyVector& keys, const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter);
/// Utility function to print sets of keys with optional prefix /// Utility function to print sets of keys with optional prefix
GTSAM_EXPORT void printKeySet(const KeySet& keys, const std::string& s = "", GTSAM_EXPORT void printKeySet(const KeySet& keys, const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter); const KeyFormatter& keyFormatter = DefaultKeyFormatter);