Reducing header bloat by introducing new ThreadSafeException header.

gtsam/base/FastSet.h

@@ -19,15 +19,18 @@
 #pragma once
 
 #include <gtsam/base/FastDefaultAllocator.h>
+
 #include <boost/mpl/has_xxx.hpp>
 #include <boost/utility/enable_if.hpp>
 #include <boost/serialization/serialization.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/set.hpp>
-#include <set>
-#include <iostream>
-#include <string>
+
 #include <cmath>
+#include <iosfwd>
+#include <iostream>
+#include <set>
+#include <string>
 
 BOOST_MPL_HAS_XXX_TRAIT_DEF(print)
 

gtsam/base/FastVector.h

@@ -18,12 +18,9 @@
 
 #pragma once
 
-#include <vector>
+#include <gtsam/base/FastDefaultAllocator.h>
 #include <boost/serialization/nvp.hpp>
-#include <boost/serialization/vector.hpp>
-
-#include <gtsam/base/FastList.h>
-#include <gtsam/base/FastSet.h>
+#include <vector>
 
 namespace gtsam {
 
@@ -35,20 +32,27 @@ namespace gtsam {
  * @addtogroup base
  */
 template<typename VALUE>
-class FastVector: public std::vector<VALUE, typename internal::FastDefaultVectorAllocator<VALUE>::type> {
+class FastVector: public std::vector<VALUE,
+    typename internal::FastDefaultVectorAllocator<VALUE>::type> {
 
 public:
 
-  typedef std::vector<VALUE, typename internal::FastDefaultVectorAllocator<VALUE>::type> Base;
+  typedef std::vector<VALUE,
+      typename internal::FastDefaultVectorAllocator<VALUE>::type> Base;
 
   /** Default constructor */
-  FastVector() {}
+  FastVector() {
+  }
 
   /** Constructor from size */
-  explicit FastVector(size_t size) : Base(size) {}
+  explicit FastVector(size_t size) :
+      Base(size) {
+  }
 
   /** Constructor from size and initial values */
-  explicit FastVector(size_t size, const VALUE& initial) : Base(size, initial) {}
+  explicit FastVector(size_t size, const VALUE& initial) :
+      Base(size, initial) {
+  }
 
   /** Constructor from a range, passes through to base class */
   template<typename INPUTITERATOR>
@@ -56,33 +60,22 @@ public:
     // This if statement works around a bug in boost pool allocator and/or
     // STL vector where if the size is zero, the pool allocator will allocate
     // huge amounts of memory.
-    if(first != last)
+    if (first != last)
       Base::assign(first, last);
   }
 
-  /** Copy constructor from a FastList */
-  FastVector(const FastList<VALUE>& x) {
-    if(x.size() > 0)
-      Base::assign(x.begin(), x.end());
-  }
-
-  /** Copy constructor from a FastSet */
-  FastVector(const FastSet<VALUE>& x) {
-    if(x.size() > 0)
-      Base::assign(x.begin(), x.end());
-  }
-
   /** Copy constructor from the base class */
-  FastVector(const Base& x) : Base(x) {}
+  FastVector(const Base& x) :
+      Base(x) {
+  }
 
   /** Copy constructor from a standard STL container */
   template<typename ALLOCATOR>
-  FastVector(const std::vector<VALUE, ALLOCATOR>& x)
-  {
+  FastVector(const std::vector<VALUE, ALLOCATOR>& x) {
     // This if statement works around a bug in boost pool allocator and/or
     // STL vector where if the size is zero, the pool allocator will allocate
     // huge amounts of memory.
-    if(x.size() > 0)
+    if (x.size() > 0)
       Base::assign(x.begin(), x.end());
   }
 

gtsam/base/SymmetricBlockMatrix.cpp

@@ -20,6 +20,7 @@
 #include <gtsam/base/VerticalBlockMatrix.h>
 #include <gtsam/base/cholesky.h>
 #include <gtsam/base/timing.h>
+#include <gtsam/base/ThreadsafeException.h>
 
 namespace gtsam {
 

gtsam/base/SymmetricBlockMatrix.h

@@ -17,9 +17,21 @@
 */
 #pragma once
 
-#include <gtsam/base/Matrix.h>
 #include <gtsam/base/FastVector.h>
+#include <gtsam/base/Matrix.h>
 #include <gtsam/base/SymmetricBlockMatrixBlockExpr.h>
+#include <gtsam/base/types.h>
+#include <gtsam/dllexport.h>
+#include <boost/serialization/nvp.hpp>
+#include <cassert>
+#include <stdexcept>
+#include <vector>
+
+namespace boost {
+namespace serialization {
+class access;
+} /* namespace serialization */
+} /* namespace boost */
 
 namespace gtsam {
 
@@ -247,13 +259,8 @@ namespace gtsam {
     }
   };
 
-  /* ************************************************************************* */
-  class CholeskyFailed : public gtsam::ThreadsafeException<CholeskyFailed>
-  {
-  public:
-    CholeskyFailed() throw() {}
-    virtual ~CholeskyFailed() throw() {}
-  };
+  /// Foward declare exception class
+  class CholeskyFailed;
 
 }
 

gtsam/base/TestableAssertions.h

@@ -17,13 +17,14 @@
 
 #pragma once
 
-#include <vector>
-#include <map>
-#include <iostream>
+#include <gtsam/base/Testable.h>
+#include <gtsam/global_includes.h>
+
 #include <boost/foreach.hpp>
 #include <boost/optional.hpp>
-#include <gtsam/global_includes.h>
-#include <gtsam/base/Testable.h>
+#include <map>
+#include <iostream>
+#include <vector>
 
 namespace gtsam {
 

gtsam/base/ThreadsafeException.h

@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     ThreadSafeException.h
+ * @brief    Base exception type that uses tbb_exception if GTSAM is compiled with TBB
+ * @author   Richard Roberts
+ * @date     Aug 21, 2010
+ * @addtogroup base
+ */
+
+#pragma once
+
+#include <boost/optional/optional.hpp>
+#include <tbb/scalable_allocator.h>
+#include <string>
+#include <typeinfo>
+
+#ifdef GTSAM_USE_TBB
+#include <tbb/tbb_allocator.h>
+#include <tbb/tbb_exception.h>
+#endif
+
+namespace gtsam {
+
+/// Base exception type that uses tbb_exception if GTSAM is compiled with TBB.
+template<class DERIVED>
+class ThreadsafeException:
+#ifdef GTSAM_USE_TBB
+    public tbb::tbb_exception
+#else
+public std::exception
+#endif
+{
+#ifdef GTSAM_USE_TBB
+private:
+  typedef tbb::tbb_exception Base;
+protected:
+  typedef std::basic_string<char, std::char_traits<char>,
+      tbb::tbb_allocator<char> > String;
+#else
+private:
+  typedef std::exception Base;
+protected:
+  typedef std::string String;
+#endif
+
+protected:
+  bool dynamic_; ///< Whether this object was moved
+  mutable boost::optional<String> description_; ///< Optional description
+
+  /// Default constructor is protected - may only be created from derived classes
+  ThreadsafeException() :
+      dynamic_(false) {
+  }
+
+  /// Copy constructor is protected - may only be created from derived classes
+  ThreadsafeException(const ThreadsafeException& other) :
+      Base(other), dynamic_(false) {
+  }
+
+  /// Construct with description string
+  ThreadsafeException(const std::string& description) :
+      dynamic_(false), description_(
+          String(description.begin(), description.end())) {
+  }
+
+  /// Default destructor doesn't have the throw()
+  virtual ~ThreadsafeException() throw () {
+  }
+
+public:
+  // Implement functions for tbb_exception
+#ifdef GTSAM_USE_TBB
+  virtual tbb::tbb_exception* move() throw () {
+    void* cloneMemory = scalable_malloc(sizeof(DERIVED));
+    if (!cloneMemory) {
+      std::cerr << "Failed allocating memory to copy thrown exception, exiting now." << std::endl;
+      exit(-1);
+    }
+    DERIVED* clone = ::new(cloneMemory) DERIVED(static_cast<DERIVED&>(*this));
+    clone->dynamic_ = true;
+    return clone;
+  }
+
+  virtual void destroy() throw () {
+    if (dynamic_) {
+      DERIVED* derivedPtr = static_cast<DERIVED*>(this);
+      derivedPtr->~DERIVED();
+      scalable_free(derivedPtr);
+    }
+  }
+
+  virtual void throw_self() {
+    throw *static_cast<DERIVED*>(this);
+  }
+
+  virtual const char* name() const throw () {
+    return typeid(DERIVED).name();
+  }
+#endif
+
+  virtual const char* what() const throw () {
+    return description_ ? description_->c_str() : "";
+  }
+};
+
+/// Thread-safe runtime error exception
+class RuntimeErrorThreadsafe: public ThreadsafeException<RuntimeErrorThreadsafe> {
+public:
+  /// Construct with a string describing the exception
+  RuntimeErrorThreadsafe(const std::string& description) :
+      ThreadsafeException<RuntimeErrorThreadsafe>(description) {
+  }
+};
+
+/// Thread-safe out of range exception
+class OutOfRangeThreadsafe: public ThreadsafeException<OutOfRangeThreadsafe> {
+public:
+  /// Construct with a string describing the exception
+  OutOfRangeThreadsafe(const std::string& description) :
+      ThreadsafeException<OutOfRangeThreadsafe>(description) {
+  }
+};
+
+/// Thread-safe invalid argument exception
+class InvalidArgumentThreadsafe: public ThreadsafeException<
+    InvalidArgumentThreadsafe> {
+public:
+  /// Construct with a string describing the exception
+  InvalidArgumentThreadsafe(const std::string& description) :
+      ThreadsafeException<InvalidArgumentThreadsafe>(description) {
+  }
+};
+
+/// Indicate Cholesky factorization failure
+class CholeskyFailed : public gtsam::ThreadsafeException<CholeskyFailed>
+{
+public:
+  CholeskyFailed() throw() {}
+  virtual ~CholeskyFailed() throw() {}
+};
+
+} // namespace gtsam

gtsam/base/treeTraversal/parallelTraversalTasks.h

@@ -24,6 +24,7 @@
 
 #ifdef GTSAM_USE_TBB
 #  include <tbb/tbb.h>
+#  include <tbb/scalable_allocator.h>
 #  undef max // TBB seems to include windows.h and we don't want these macros
 #  undef min
 #  undef ERROR

gtsam/base/types.h

@@ -20,19 +20,16 @@
 #pragma once
 
 #include <gtsam/dllexport.h>
-#include <gtsam/config.h>
-#include <boost/function/function1.hpp>
+#include <boost/concept/assert.hpp>
+#include <boost/function.hpp>
 #include <boost/range/concepts.hpp>
-#include <boost/optional.hpp>
+#include <sys/_types/_ptrdiff_t.h>
 #include <cstddef>
-#include <string>
-#include <ostream>
 
 #ifdef GTSAM_USE_TBB
 #include <tbb/task_scheduler_init.h>
 #include <tbb/tbb_exception.h>
 #include <tbb/scalable_allocator.h>
-#include <iostream>
 #endif
 
 #ifdef GTSAM_USE_EIGEN_MKL_OPENMP
@@ -73,7 +70,6 @@ namespace gtsam {
   /// The index type for Eigen objects
   typedef ptrdiff_t DenseIndex;
 
-
   /* ************************************************************************* */
   /**
    * Helper class that uses templates to select between two types based on
@@ -148,104 +144,6 @@ namespace gtsam {
     return ListOfOneContainer<T>(element);
   }
 
-  /* ************************************************************************* */
-  /// Base exception type that uses tbb_exception if GTSAM is compiled with TBB.
-  template<class DERIVED>
-  class ThreadsafeException :
-#ifdef GTSAM_USE_TBB
-    public tbb::tbb_exception
-#else
-    public std::exception
-#endif
-  {
-#ifdef GTSAM_USE_TBB
-  private:
-    typedef tbb::tbb_exception Base;
-  protected:
-    typedef std::basic_string<char, std::char_traits<char>, tbb::tbb_allocator<char> > String;
-#else
-  private:
-    typedef std::exception Base;
-  protected:
-    typedef std::string String;
-#endif
-
-  protected:
-    bool dynamic_; ///< Whether this object was moved
-    mutable boost::optional<String> description_; ///< Optional description
-
-    /// Default constructor is protected - may only be created from derived classes
-    ThreadsafeException() : dynamic_(false) {}
-
-    /// Copy constructor is protected - may only be created from derived classes
-    ThreadsafeException(const ThreadsafeException& other) : Base(other), dynamic_(false) {}
-
-    /// Construct with description string
-    ThreadsafeException(const std::string& description) : dynamic_(false), description_(String(description.begin(), description.end())) {}
-
-    /// Default destructor doesn't have the throw()
-    virtual ~ThreadsafeException() throw () {}
-
-  public:
-    // Implement functions for tbb_exception
-#ifdef GTSAM_USE_TBB
-    virtual tbb::tbb_exception* move() throw () {
-      void* cloneMemory = scalable_malloc(sizeof(DERIVED));
-      if (!cloneMemory) {
-        std::cerr << "Failed allocating memory to copy thrown exception, exiting now." << std::endl;
-        exit(-1);
-      }
-      DERIVED* clone = ::new(cloneMemory) DERIVED(static_cast<DERIVED&>(*this));
-      clone->dynamic_ = true;
-      return clone;
-    }
-
-    virtual void destroy() throw() {
-      if (dynamic_) {
-        DERIVED* derivedPtr = static_cast<DERIVED*>(this);
-        derivedPtr->~DERIVED();
-        scalable_free(derivedPtr);
-      }
-    }
-
-    virtual void throw_self() {
-      throw *static_cast<DERIVED*>(this); }
-
-    virtual const char* name() const throw() {
-      return typeid(DERIVED).name(); }
-#endif
-
-    virtual const char* what() const throw() {
-      return description_ ? description_->c_str() : ""; }
-  };
-
-  /* ************************************************************************* */
-  /// Threadsafe runtime error exception
-  class RuntimeErrorThreadsafe : public ThreadsafeException<RuntimeErrorThreadsafe>
-  {
-  public:
-    /// Construct with a string describing the exception
-    RuntimeErrorThreadsafe(const std::string& description) : ThreadsafeException<RuntimeErrorThreadsafe>(description) {}
-  };
-
-  /* ************************************************************************* */
-  /// Threadsafe runtime error exception
-  class OutOfRangeThreadsafe : public ThreadsafeException<OutOfRangeThreadsafe>
-  {
-  public:
-    /// Construct with a string describing the exception
-    OutOfRangeThreadsafe(const std::string& description) : ThreadsafeException<OutOfRangeThreadsafe>(description) {}
-  };
-
-  /* ************************************************************************* */
-  /// Threadsafe invalid argument exception
-  class InvalidArgumentThreadsafe : public ThreadsafeException<InvalidArgumentThreadsafe>
-  {
-  public:
-    /// Construct with a string describing the exception
-    InvalidArgumentThreadsafe(const std::string& description) : ThreadsafeException<InvalidArgumentThreadsafe>(description) {}
-  };
-
   /* ************************************************************************* */
 #ifdef __clang__
 #  pragma clang diagnostic push

gtsam/geometry/CalibratedCamera.h

@@ -19,6 +19,11 @@
 #pragma once
 
 #include <gtsam/geometry/Pose3.h>
+#include <gtsam/base/concepts.h>
+#include <gtsam/base/Manifold.h>
+#include <gtsam/base/ThreadsafeException.h>
+#include <gtsam/dllexport.h>
+#include <boost/serialization/nvp.hpp>
 
 namespace gtsam {
 

gtsam/inference/VariableIndex-inl.h

@@ -18,6 +18,8 @@
 #pragma once
 
 #include <gtsam/inference/VariableIndex.h>
+#include <gtsam/base/timing.h>
+#include <boost/foreach.hpp>
 
 namespace gtsam {
 

gtsam/inference/VariableIndex.h

@@ -17,17 +17,18 @@
 
 #pragma once
 
-#include <gtsam/inference/Key.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/base/FastMap.h>
-#include <gtsam/base/Testable.h>
+#include <gtsam/base/FastVector.h>
 #include <gtsam/base/types.h>
-#include <gtsam/base/timing.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/dllexport.h>
 
-#include <boost/foreach.hpp>
+#include <boost/none.hpp>
+#include <boost/optional/optional.hpp>
+#include <boost/smart_ptr/shared_ptr.hpp>
 
-#include <vector>
-#include <deque>
+#include <cassert>
 #include <stdexcept>
 
 namespace gtsam {

gtsam/inference/tests/testKey.cpp

@@ -14,6 +14,7 @@
  * @author Alex Cunningham
  */
 
+#include <gtsam/inference/Key.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>

gtsam/linear/HessianFactor.cpp

@@ -15,17 +15,19 @@
  * @date    Dec 8, 2010
  */
 
-#include <gtsam/linear/linearExceptions.h>
+#include <gtsam/linear/HessianFactor.h>
+
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/linear/GaussianFactor.h>
-#include <gtsam/linear/HessianFactor.h>
-#include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/base/debug.h>
-#include <gtsam/base/timing.h>
-#include <gtsam/base/Matrix.h>
-#include <gtsam/base/FastMap.h>
+#include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/linear/linearExceptions.h>
 #include <gtsam/base/cholesky.h>
+#include <gtsam/base/debug.h>
+#include <gtsam/base/FastMap.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/ThreadsafeException.h>
+#include <gtsam/base/timing.h>
 
 #include <boost/foreach.hpp>
 #include <boost/format.hpp>
@@ -469,7 +471,7 @@ std::pair<boost::shared_ptr<GaussianConditional>,
     // Erase the eliminated keys in the remaining factor
     jointFactor->keys_.erase(jointFactor->begin(),
         jointFactor->begin() + numberOfKeysToEliminate);
-  } catch (CholeskyFailed&) {
+  } catch (const CholeskyFailed& e) {
     throw IndeterminantLinearSystemException(keys.front());
   }
 

gtsam/linear/SubgraphPreconditioner.cpp

@@ -15,20 +15,41 @@
  * @author: Frank Dellaert
  */
 
-#include <gtsam/base/DSFVector.h>
 #include <gtsam/linear/SubgraphPreconditioner.h>
-#include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/linear/GaussianBayesNet.h>
-#include <boost/foreach.hpp>
-#include <boost/make_shared.hpp>
+#include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/linear/HessianFactor.h>
+#include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/linear/GaussianEliminationTree.h>
+#include <gtsam/inference/Ordering.h>
+#include <gtsam/inference/VariableIndex.h>
+#include <gtsam/base/DSFVector.h>
+#include <gtsam/base/FastMap.h>
+#include <gtsam/base/FastVector.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/Vector.h>
+
 #include <boost/algorithm/string.hpp>
-#include <boost/archive/text_oarchive.hpp>
 #include <boost/archive/text_iarchive.hpp>
+#include <boost/archive/text_oarchive.hpp>
+#include <boost/serialization/vector.hpp>
+#include <boost/foreach.hpp>
+#include <boost/shared_ptr.hpp>
+#include <sys/_types/_size_t.h>
+
+#include <algorithm>
+#include <cmath>
+#include <cstdlib>
 #include <fstream>
+#include <iomanip>
 #include <iostream>
-#include <numeric>
+#include <iterator>
+#include <list>
+#include <map>
+#include <numeric> // accumulate
 #include <queue>
 #include <set>
+#include <stdexcept>
+#include <string>
 #include <utility>
 #include <vector>
 

gtsam/linear/SubgraphPreconditioner.h

@@ -17,13 +17,32 @@
 
 #pragma once
 
-#include <gtsam/global_includes.h>
 #include <gtsam/linear/Errors.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/IterativeSolver.h>
 #include <gtsam/linear/Preconditioner.h>
 #include <gtsam/linear/VectorValues.h>
+#include <gtsam/base/FastMap.h>
+#include <gtsam/base/FastVector.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/Vector.h>
+#include <gtsam/dllexport.h>
+
+#include <boost/serialization/nvp.hpp>
 #include <boost/shared_ptr.hpp>
 
+#include <sys/_types/_size_t.h>
+#include <map>
+#include <utility>
+#include <vector>
+
+namespace boost {
+namespace serialization {
+class access;
+} /* namespace serialization */
+} /* namespace boost */
+
 namespace gtsam {
 
   // Forward declarations

gtsam/linear/linearExceptions.cpp

@@ -19,6 +19,7 @@
 #include <gtsam/linear/linearExceptions.h>
 #include <gtsam/inference/Symbol.h>
 #include <boost/format.hpp>
+#include <boost/lexical_cast.hpp>
 
 namespace gtsam {
 

gtsam/linear/linearExceptions.h

@@ -17,9 +17,8 @@
  */
 #pragma once
 
-#include <gtsam/global_includes.h>
-#include <boost/lexical_cast.hpp>
-#include <exception>
+#include <gtsam/base/ThreadsafeException.h>
+#include <gtsam/base/types.h>
 
 namespace gtsam {
 

tests/testMarginals.cpp

@@ -226,7 +226,8 @@ TEST(Marginals, order) {
     vals.at<Pose2>(3).range(vals.at<Point2>(101)), noiseModel::Unit::Create(2));
 
   Marginals marginals(fg, vals);
-  FastVector<Key> keys(fg.keys());
+  FastSet<Key> set = fg.keys();
+  FastVector<Key> keys(set.begin(), set.end());
   JointMarginal joint = marginals.jointMarginalCovariance(keys);
 
   LONGS_EQUAL(3, (long)joint(0,0).rows());