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Fixed version of at

release/4.3a0
dellaert 2014-12-13 22:07:07 +00:00
parent c22a2d80d2
commit 4542292af9
3 changed files with 27 additions and 3 deletions
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8
gtsam.h
View File

@ -1733,9 +1733,6 @@ class Values {
void insert(size_t j, Vector t); void insert(size_t j, Vector t);
void insert(size_t j, Matrix t); void insert(size_t j, Matrix t);
// Fixed size version
void insertFixed(size_t j, Vector t, size_t n);
void update(size_t j, const gtsam::Point2& t); void update(size_t j, const gtsam::Point2& t);
void update(size_t j, const gtsam::Point3& t); void update(size_t j, const gtsam::Point3& t);
void update(size_t j, const gtsam::Rot2& t); void update(size_t j, const gtsam::Rot2& t);
@ -1752,6 +1749,11 @@ class Values {
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}> template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
T at(size_t j); T at(size_t j);
// Fixed size versions, for n in 1..9
void insertFixed(size_t j, Vector t, size_t n);
Vector atFixed(size_t j, size_t n);
}; };
// Actually a FastList<Key> // Actually a FastList<Key>

18
gtsam/nonlinear/Values.cpp
View File

@ -112,6 +112,24 @@ namespace gtsam {
return result; return result;
} }
/* ************************************************************************* */
Vector Values::atFixed(Key j, size_t n) {
switch (n) {
case 1: return at<Vector1>(j);
case 2: return at<Vector2>(j);
case 3: return at<Vector3>(j);
case 4: return at<Vector4>(j);
case 5: return at<Vector5>(j);
case 6: return at<Vector6>(j);
case 7: return at<Vector7>(j);
case 8: return at<Vector8>(j);
case 9: return at<Vector9>(j);
default:
throw runtime_error(
"Values::at fixed size can only handle n in 1..9");
}
}
/* ************************************************************************* */ /* ************************************************************************* */
const Value& Values::at(Key j) const { const Value& Values::at(Key j) const {
// Find the item // Find the item

4
gtsam/nonlinear/Values.h
View File

@ -180,6 +180,10 @@ namespace gtsam {
template<typename ValueType> template<typename ValueType>
const ValueType& at(Key j) const; const ValueType& at(Key j) const;
/// Special version for small fixed size vectors, for matlab/python
/// throws truntime error if n<1 || n>9
Vector atFixed(Key j, size_t n);
/** Retrieve a variable by key \c j. This version returns a reference /** Retrieve a variable by key \c j. This version returns a reference
* to the base Value class, and needs to be casted before use. * to the base Value class, and needs to be casted before use.
* @param j Retrieve the value associated with this key * @param j Retrieve the value associated with this key