Small improvements

gtsam_unstable/base/BTree.h

@@ -128,6 +128,12 @@ namespace gtsam {
       root_(new Node(l, keyValue, r)) {
     }
 
+    /** assignment operator */
+    BTree & operator= (const BTree & other) {
+      root_ = other.root_;
+      return *this;
+    }
+
     /** Check whether tree is empty */
     bool empty() const {
       return !root_;

gtsam_unstable/base/DSF.h

@@ -46,33 +46,65 @@ namespace gtsam {
   typedef std::pair<KEY, KEY> KeyLabel;
 
   // constructor
-    DSF() : Tree() { }
+  DSF() :
+      Tree() {
+  }
 
   // constructor
-    DSF(const Tree& tree) : Tree(tree) {}
+  DSF(const Tree& tree) :
+      Tree(tree) {
+  }
 
   // constructor with a list of unconnected keys
-    DSF(const std::list<KEY>& keys) : Tree() { BOOST_FOREACH(const KEY& key, keys) *this = this->add(key, key); }
+  DSF(const std::list<KEY>& keys) :
+      Tree() {
+    BOOST_FOREACH(const KEY& key, keys)
+      *this = this->add(key, key);
+  }
 
   // constructor with a set of unconnected keys
-    DSF(const std::set<KEY>& keys) : Tree() { BOOST_FOREACH(const KEY& key, keys) *this = this->add(key, key); }
+  DSF(const std::set<KEY>& keys) :
+      Tree() {
+    BOOST_FOREACH(const KEY& key, keys)
+      *this = this->add(key, key);
+  }
 
   // create a new singleton, does nothing if already exists
-    Self makeSet(const KEY& key) const { if (this->mem(key)) return *this; else return this->add(key, key); }
+  Self makeSet(const KEY& key) const {
+    if (this->mem(key))
+      return *this;
+    else
+      return this->add(key, key);
+  }
+
+  // create a new singleton, does nothing if already exists
+  void makeSetInPlace(const KEY& key) {
+    if (!this->mem(key))
+      *this = this->add(key, key);
+  }
 
   // find the label of the set in which {key} lives
   KEY findSet(const KEY& key) const {
     KEY parent = this->find(key);
-      return parent == key ? key : findSet(parent); }
+    return parent == key ? key : findSet(parent);
+  }
 
-    // return a ***new*** DSF where x and y are in the same set. No path compression
+  // return a new DSF where x and y are in the same set. No path compression
-    Self makeUnion(const KEY& key1, const KEY& key2) const { return this->add(findSet(key2), findSet(key1));  }
+  Self makeUnion(const KEY& key1, const KEY& key2) const {
+    DSF<KEY> copy = *this;
+    copy.makeUnionInPlace(key1,key2);
+    return copy;
+  }
 
   // the in-place version of makeUnion
-    void makeUnionInPlace(const KEY& key1, const KEY& key2) { *this = this->add(findSet_(key2), findSet_(key1)); }
+  void makeUnionInPlace(const KEY& key1, const KEY& key2) {
+    *this = this->add(findSet_(key2), findSet_(key1));
+  }
 
   // create a new singleton with two connected keys
-    Self makePair(const KEY& key1, const KEY& key2) const { return makeSet(key1).makeSet(key2).makeUnion(key1, key2); }
+  Self makePair(const KEY& key1, const KEY& key2) const {
+    return makeSet(key1).makeSet(key2).makeUnion(key1, key2);
+  }
 
   // create a new singleton with a list of fully connected keys
   Self makeList(const std::list<KEY>& keys) const {
@@ -102,12 +134,15 @@ namespace gtsam {
   size_t numSets() const {
     size_t num = 0;
     BOOST_FOREACH(const KeyLabel& pair, (Tree)*this)
-        if (pair.first == pair.second) num++;
+      if (pair.first == pair.second)
+        num++;
     return num;
   }
 
   // return the numer of keys
-    size_t size() const { return Tree::size(); }
+  size_t size() const {
+    return Tree::size();
+  }
 
   // return all sets, i.e. a partition of all elements
   std::map<KEY, Set> sets() const {
@@ -136,16 +171,21 @@ namespace gtsam {
   }
 
   /** equality */
-    bool operator==(const Self& t) const { return (Tree)*this == (Tree)t;  }
+  bool operator==(const Self& t) const {
+    return (Tree) *this == (Tree) t;
+  }
 
   /** inequality */
-    bool operator!=(const Self& t) const { return (Tree)*this != (Tree)t;  }
+  bool operator!=(const Self& t) const {
+    return (Tree) *this != (Tree) t;
+  }
 
   // print the object
   void print(const std::string& name = "DSF") const {
     std::cout << name << std::endl;
     BOOST_FOREACH(const KeyLabel& pair, (Tree)*this)
-        std::cout << (std::string)pair.first << " " << (std::string)pair.second << std::endl;
+      std::cout << (std::string) pair.first << " " << (std::string) pair.second
+          << std::endl;
   }
 
 protected: