diff --git a/.cproject b/.cproject
index 3d81f6b05..307d0f1cb 100644
--- a/.cproject
+++ b/.cproject
@@ -322,14 +322,6 @@
true
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j2
@@ -356,6 +348,7 @@
make
+
tests/testBayesTree.run
true
false
@@ -363,6 +356,7 @@
make
+
testBinaryBayesNet.run
true
false
@@ -410,6 +404,7 @@
make
+
testSymbolicBayesNet.run
true
false
@@ -417,6 +412,7 @@
make
+
tests/testSymbolicFactor.run
true
false
@@ -424,6 +420,7 @@
make
+
testSymbolicFactorGraph.run
true
false
@@ -439,11 +436,20 @@
make
+
tests/testBayesTree
true
false
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -478,7 +484,6 @@
make
-
testGraph.run
true
false
@@ -574,7 +579,6 @@
make
-
testInference.run
true
false
@@ -582,7 +586,6 @@
make
-
testGaussianBayesNet.run
true
false
@@ -590,7 +593,6 @@
make
-
testGaussianFactor.run
true
false
@@ -598,7 +600,6 @@
make
-
testJunctionTree.run
true
false
@@ -606,7 +607,6 @@
make
-
testSymbolicBayesNet.run
true
false
@@ -614,7 +614,6 @@
make
-
testSymbolicFactorGraph.run
true
false
@@ -958,6 +957,7 @@
make
+
testErrors.run
true
false
@@ -1317,7 +1317,6 @@
make
-
testSimulated2DOriented.run
true
false
@@ -1357,7 +1356,6 @@
make
-
testSimulated2D.run
true
false
@@ -1365,7 +1363,6 @@
make
-
testSimulated3D.run
true
false
@@ -1379,6 +1376,14 @@
true
true
+
+ make
+ -j2
+ tests/testDSFVector.run
+ true
+ true
+ true
+
make
-j2
@@ -1445,7 +1450,6 @@
make
-
tests/testGaussianISAM2
true
false
@@ -1467,6 +1471,86 @@
true
true
+
+ make
+ -j2
+ install
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
+
+ make
+ -j2
+ all
+ true
+ true
+ true
+
+
+ make
+ -j2
+ dist
+ true
+ true
+ true
+
+
+ make
+ -j2
+ inference/tests/testEliminationTree
+ true
+ true
+ true
+
+
+ make
+ -j2
+ slam/tests/testGaussianISAM2
+ true
+ true
+ true
+
+
+ make
+ -j2
+ inference/tests/testVariableIndex
+ true
+ true
+ true
+
+
+ make
+ -j2
+ inference/tests/testJunctionTree
+ true
+ true
+ true
+
+
+ make
+ -j2
+ linear/tests/testGaussianJunctionTree
+ true
+ true
+ true
+
make
-j2
@@ -1563,94 +1647,6 @@
true
true
-
- make
- -j2
- install
- true
- true
- true
-
-
- make
- -j2
- clean
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
-
- make
- -j2
- all
- true
- true
- true
-
-
- make
- -j2
- dist
- true
- true
- true
-
-
- make
- -j2
- inference/tests/testEliminationTree
- true
- true
- true
-
-
- make
- -j2
- slam/tests/testGaussianISAM2
- true
- true
- true
-
-
- make
- -j2
- inference/tests/testVariableIndex
- true
- true
- true
-
-
- make
- -j2
- inference/tests/testJunctionTree
- true
- true
- true
-
-
- make
- -j2
- linear/tests/testGaussianJunctionTree
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
make
-j2
@@ -1683,6 +1679,14 @@
true
true
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
@@ -2005,14 +2009,6 @@
true
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j2
@@ -2039,6 +2035,7 @@
make
+
tests/testBayesTree.run
true
false
@@ -2046,6 +2043,7 @@
make
+
testBinaryBayesNet.run
true
false
@@ -2093,6 +2091,7 @@
make
+
testSymbolicBayesNet.run
true
false
@@ -2100,6 +2099,7 @@
make
+
tests/testSymbolicFactor.run
true
false
@@ -2107,6 +2107,7 @@
make
+
testSymbolicFactorGraph.run
true
false
@@ -2122,11 +2123,20 @@
make
+
tests/testBayesTree
true
false
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -2161,7 +2171,6 @@
make
-
testGraph.run
true
false
@@ -2257,7 +2266,6 @@
make
-
testInference.run
true
false
@@ -2265,7 +2273,6 @@
make
-
testGaussianBayesNet.run
true
false
@@ -2273,7 +2280,6 @@
make
-
testGaussianFactor.run
true
false
@@ -2281,7 +2287,6 @@
make
-
testJunctionTree.run
true
false
@@ -2289,7 +2294,6 @@
make
-
testSymbolicBayesNet.run
true
false
@@ -2297,7 +2301,6 @@
make
-
testSymbolicFactorGraph.run
true
false
@@ -2641,6 +2644,7 @@
make
+
testErrors.run
true
false
@@ -3000,7 +3004,6 @@
make
-
testSimulated2DOriented.run
true
false
@@ -3040,7 +3043,6 @@
make
-
testSimulated2D.run
true
false
@@ -3048,7 +3050,6 @@
make
-
testSimulated3D.run
true
false
@@ -3062,6 +3063,14 @@
true
true
+
+ make
+ -j2
+ tests/testDSFVector.run
+ true
+ true
+ true
+
make
-j2
@@ -3128,7 +3137,6 @@
make
-
tests/testGaussianISAM2
true
false
@@ -3150,6 +3158,86 @@
true
true
+
+ make
+ -j2
+ install
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
+
+ make
+ -j2
+ all
+ true
+ true
+ true
+
+
+ make
+ -j2
+ dist
+ true
+ true
+ true
+
+
+ make
+ -j2
+ inference/tests/testEliminationTree
+ true
+ true
+ true
+
+
+ make
+ -j2
+ slam/tests/testGaussianISAM2
+ true
+ true
+ true
+
+
+ make
+ -j2
+ inference/tests/testVariableIndex
+ true
+ true
+ true
+
+
+ make
+ -j2
+ inference/tests/testJunctionTree
+ true
+ true
+ true
+
+
+ make
+ -j2
+ linear/tests/testGaussianJunctionTree
+ true
+ true
+ true
+
make
-j2
@@ -3246,94 +3334,6 @@
true
true
-
- make
- -j2
- install
- true
- true
- true
-
-
- make
- -j2
- clean
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
-
- make
- -j2
- all
- true
- true
- true
-
-
- make
- -j2
- dist
- true
- true
- true
-
-
- make
- -j2
- inference/tests/testEliminationTree
- true
- true
- true
-
-
- make
- -j2
- slam/tests/testGaussianISAM2
- true
- true
- true
-
-
- make
- -j2
- inference/tests/testVariableIndex
- true
- true
- true
-
-
- make
- -j2
- inference/tests/testJunctionTree
- true
- true
- true
-
-
- make
- -j2
- linear/tests/testGaussianJunctionTree
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
make
-j2
@@ -3366,6 +3366,14 @@
true
true
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
diff --git a/gtsam/base/DSFVector.cpp b/gtsam/base/DSFVector.cpp
index 06fb53372..0881465ba 100644
--- a/gtsam/base/DSFVector.cpp
+++ b/gtsam/base/DSFVector.cpp
@@ -33,37 +33,53 @@ namespace gtsam {
}
/* ************************************************************************* */
- size_t DSFVector::findSet(const size_t& key) const {
+ DSFVector::Label DSFVector::findSet(const size_t& key) const {
size_t parent = at(key);
return parent == key ? key : findSet(parent);
}
/* ************************************************************************* */
- std::set DSFVector::set(const std::size_t& label) const {
+ bool DSFVector::isSingleton(const Label& label) const {
+ bool result = false;
+ std::vector::const_iterator it = begin();
+ for (; it != end(); ++it) {
+ if(findSet(*it) == label) {
+ if (!result) // find the first occurrence
+ result = true;
+ else
+ return false;
+ }
+ }
+ return result;
+ }
+
+ /* ************************************************************************* */
+ std::set DSFVector::set(const Label& label) const {
std::set set;
size_t key = 0;
- std::vector::const_iterator it = begin();
+ std::vector::const_iterator it = begin();
for (; it != end(); it++, key++) {
- if (*it == label || findSet(*it) == label)
+ if (findSet(*it) == label)
set.insert(key);
}
return set;
}
/* ************************************************************************* */
- void DSFVector::makeUnionInPlace(const std::size_t& i1, const std::size_t& i2) {
- at(findSet(i2)) = findSet(i1);
- }
-
- /* ************************************************************************* */
- std::map > DSFVector::sets() const {
- std::map > sets;
+ std::map > DSFVector::sets() const {
+ std::map > sets;
size_t key = 0;
- std::vector::const_iterator it = begin();
+ std::vector::const_iterator it = begin();
for (; it != end(); it++, key++) {
sets[findSet(*it)].insert(key);
}
return sets;
}
-}
+ /* ************************************************************************* */
+ void DSFVector::makeUnionInPlace(const size_t& i1, const size_t& i2) {
+ at(findSet(i2)) = findSet(i1);
+ }
+
+} // namespace
+
diff --git a/gtsam/base/DSFVector.h b/gtsam/base/DSFVector.h
index 16adae1d3..435304ba5 100644
--- a/gtsam/base/DSFVector.h
+++ b/gtsam/base/DSFVector.h
@@ -27,26 +27,32 @@
namespace gtsam {
/**
- * A fast impelementation of disjoint set forests
+ * A fast impelementation of disjoint set forests that uses vector as underly data structure.
*/
class DSFVector : protected std::vector {
private:
public:
+ typedef size_t Label;
+
// constructor
DSFVector(const std::size_t numNodes);
// find the label of the set in which {key} lives
- size_t findSet(const size_t& key) const;
+ Label findSet(const size_t& key) const;
+
+ // find whether there is one and only one occurrence for the given {label}
+ bool isSingleton(const Label& label) const;
+
+ // get the nodes in the tree with the given label
+ std::set set(const Label& label) const;
+
+ // return all sets, i.e. a partition of all elements
+ std::map > sets() const;
// the in-place version of makeUnion
void makeUnionInPlace(const std::size_t& i1, const std::size_t& i2);
- // get the nodes in the tree with the given label
- std::set set(const std::size_t& label) const;
-
- // return all sets, i.e. a partition of all elements
- std::map > sets() const;
};
}
diff --git a/gtsam/base/tests/testDSFVector.cpp b/gtsam/base/tests/testDSFVector.cpp
index abe3e1ac0..ce4ea7f21 100644
--- a/gtsam/base/tests/testDSFVector.cpp
+++ b/gtsam/base/tests/testDSFVector.cpp
@@ -113,6 +113,14 @@ TEST(DSFVector, set2) {
CHECK(expected == set);
}
+/* ************************************************************************* */
+TEST(DSFVector, isSingleton) {
+ DSFVector dsf(3);
+ dsf.makeUnionInPlace(0,1);
+ CHECK(!dsf.isSingleton(0));
+ CHECK(!dsf.isSingleton(1));
+ CHECK( dsf.isSingleton(2));
+}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */