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Fixed factor graph construction and push_back from iterators and containers over plain and shared_ptr objects

release/4.3a0
Richard Roberts 2013-07-16 17:37:08 +00:00
parent e9f30660b3
commit 333903c4aa
2 changed files with 21 additions and 3 deletions
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14
gtsam/inference/FactorGraphUnordered.h
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@ -25,6 +25,7 @@
#include <boost/serialization/nvp.hpp> #include <boost/serialization/nvp.hpp>
#include <boost/assign/list_inserter.hpp> #include <boost/assign/list_inserter.hpp>
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>
#include <type_traits>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/inference/Key.h> #include <gtsam/inference/Key.h>
@ -123,9 +124,10 @@ namespace gtsam {
void push_back(const This& factors) { void push_back(const This& factors) {
factors_.insert(end(), factors.begin(), factors.end()); } factors_.insert(end(), factors.begin(), factors.end()); }
/** push back many factors with an iterator */ /** push back many factors with an iterator over shared_ptr (factors are not copied) */
template<typename ITERATOR> template<typename ITERATOR>
void push_back(ITERATOR firstFactor, ITERATOR lastFactor) { typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::value_type::element_type>::value>::type
push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
factors_.insert(end(), firstFactor, lastFactor); } factors_.insert(end(), firstFactor, lastFactor); }
protected: protected:
@ -138,6 +140,14 @@ namespace gtsam {
void push_back(const DERIVEDFACTOR& factor) { void push_back(const DERIVEDFACTOR& factor) {
add(factor); } add(factor); }
/** push back many factors with an iterator over plain factors (factors are copied) */
template<typename ITERATOR>
typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::value_type>::value>::type
push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
for(ITERATOR f = firstFactor; f != lastFactor; ++f)
add(*f);
}
public: public:
/** += syntax for push_back, e.g. graph += f1, f2, f3 */ /** += syntax for push_back, e.g. graph += f1, f2, f3 */
template<class T> template<class T>

8
gtsam/symbolic/SymbolicBayesNetUnordered.h
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@ -49,6 +49,14 @@ namespace gtsam {
template<typename ITERATOR> template<typename ITERATOR>
SymbolicBayesNetUnordered(ITERATOR firstConditional, ITERATOR lastConditional) : Base(firstConditional, lastConditional) {} SymbolicBayesNetUnordered(ITERATOR firstConditional, ITERATOR lastConditional) : Base(firstConditional, lastConditional) {}
/** Construct from container of factors (shared_ptr or plain objects) */
template<class CONTAINER>
explicit SymbolicBayesNetUnordered(const CONTAINER& conditionals) : Base(conditionals) {}
/** Implicit copy/downcast constructor to override explicit template container constructor */
template<class DERIVEDCONDITIONAL>
SymbolicBayesNetUnordered(const FactorGraphUnordered<DERIVEDCONDITIONAL>& graph) : Base(graph) {}
/// @} /// @}
/// @name Testable /// @name Testable