From 33ba34a1f686656004a313d751db6833ec84d31d Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sun, 10 Jan 2010 17:26:44 +0000
Subject: [PATCH] Minimized headers included in Lie.h, removed print from
 testLieConfig

---
 cpp/LieConfig-inl.h   | 50 ++++++++++++++++++++++++++++++++-----------
 cpp/LieConfig.h       | 28 ++++++------------------
 cpp/testLieConfig.cpp |  4 ++--
 3 files changed, 46 insertions(+), 36 deletions(-)

diff --git a/cpp/LieConfig-inl.h b/cpp/LieConfig-inl.h
index 4abb99771..3406ccce9 100644
--- a/cpp/LieConfig-inl.h
+++ b/cpp/LieConfig-inl.h
@@ -5,9 +5,15 @@
  *      Author: richard
  */
 
+#include "LieConfig.h"
+
 #include <boost/foreach.hpp>
 #include <boost/tuple/tuple.hpp>
-#include "LieConfig.h"
+#include <utility>
+#include <iostream>
+#include <stdexcept>
+
+#include "VectorConfig.h"
 
 using namespace std;
 
@@ -35,6 +41,26 @@ namespace gtsam {
     return true;
   }
 
+  template<class T>
+  const T& LieConfig<T>::get(const std::string& key) const {
+    iterator it = values_.find(key);
+    if (it == values_.end()) throw std::invalid_argument("invalid key");
+    else return it->second;
+  }
+
+  template<class T>
+  boost::optional<const T&> LieConfig<T>::gettry(const std::string& key) const {
+    const_iterator it = values_.find(key);
+    if (it == values_.end()) return boost::optional<const T&>();
+    else return it->second;
+  }
+
+  template<class T>
+  void LieConfig<T>::insert(const std::string& name, const T& val) {
+    values_.insert(make_pair(name, val));
+    dim_ += dim(val);
+  }
+
   template<class T>
   LieConfig<T> expmap(const LieConfig<T>& c, const VectorConfig& delta) {
 		LieConfig<T> newConfig;
@@ -52,16 +78,16 @@ namespace gtsam {
   // This version just creates a VectorConfig then calls function above
   template<class T>
   LieConfig<T> expmap(const LieConfig<T>& c, const Vector& delta) {
-  	VectorConfig deltaConfig;
-		int delta_offset = 0;
-		string j; T pj;
-		FOREACH_PAIR(j, pj, c) {
-			int cur_dim = dim(pj);
-			Vector dj = sub(delta, delta_offset, delta_offset+cur_dim);
-			deltaConfig.insert(j,dj);
-			delta_offset += cur_dim;
-		}
-		return expmap(c,deltaConfig);
-	}
+    VectorConfig deltaConfig;
+        int delta_offset = 0;
+        string j; T pj;
+        FOREACH_PAIR(j, pj, c) {
+            int cur_dim = dim(pj);
+            Vector dj = sub(delta, delta_offset, delta_offset+cur_dim);
+            deltaConfig.insert(j,dj);
+            delta_offset += cur_dim;
+        }
+        return expmap(c,deltaConfig);
+  }
 
 }
diff --git a/cpp/LieConfig.h b/cpp/LieConfig.h
index f0d3ba78c..0813bae17 100644
--- a/cpp/LieConfig.h
+++ b/cpp/LieConfig.h
@@ -11,18 +11,13 @@
 
 
 #include <map>
-#include <string>
-#include <boost/foreach.hpp>
-#include <utility>
-#include <iostream>
-#include <stdexcept>
-#include <boost/optional.hpp>
 
-#include "Testable.h"
-#include "VectorConfig.h"
 #include "Vector.h"
+#include "Testable.h"
 #include "Lie.h"
 
+namespace boost { template<class T> class optional; }
+namespace gtsam { class VectorConfig; }
 
 namespace gtsam {
 
@@ -57,11 +52,7 @@ namespace gtsam {
     virtual ~LieConfig() {}
 
     /** Retrieve a variable by key, throws std::invalid_argument if not found */
-    const T& get(const std::string& key) const {
-      iterator it = values_.find(key);
-      if (it == values_.end()) throw std::invalid_argument("invalid key");
-      else return it->second;
-    }
+    const T& get(const std::string& key) const;
 
     /** operator[] syntax for get */
 		inline const T& operator[](const std::string& name) const {
@@ -69,17 +60,10 @@ namespace gtsam {
 		}
 
     /** Retrieve a variable by key, returns nothing if not found */
-    boost::optional<const T&> gettry(const std::string& key) const {
-      const_iterator it = values_.find(key);
-      if (it == values_.end()) return boost::optional<const T&>();
-      else return it->second;
-    }
+    boost::optional<const T&> gettry(const std::string& key) const;
 
     /** Add a variable with the given key */
-    void insert(const std::string& name, const T& val) {
-      values_.insert(make_pair(name, val));
-      dim_ += dim(val);
-    }
+    void insert(const std::string& name, const T& val);
 
     /** Replace all keys and variables */
     LieConfig& operator=(const LieConfig& rhs) {
diff --git a/cpp/testLieConfig.cpp b/cpp/testLieConfig.cpp
index 91d1017a2..c273bf9b2 100644
--- a/cpp/testLieConfig.cpp
+++ b/cpp/testLieConfig.cpp
@@ -109,12 +109,12 @@ TEST(LieConfig, expmap_d)
   LieConfig<Vector> config0;
   config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
   config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
-  config0.print("config0");
+  //config0.print("config0");
 
   LieConfig<Pose2> poseconfig;
   poseconfig.insert("p1", Pose2(1,2,3));
   poseconfig.insert("p2", Pose2(0.3, 0.4, 0.5));
-  poseconfig.print("poseconfig");
+  //poseconfig.print("poseconfig");
 }
 
 /* ************************************************************************* */