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Documentation and creation of Doxygen module "base"

release/4.3a0
Frank Dellaert 2011-09-07 05:01:46 +00:00
parent c4a88102ef
commit 5cc106a24b
18 changed files with 91 additions and 76 deletions
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17
gtsam/base/BTree.h
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@ -10,10 +10,11 @@
* -------------------------------------------------------------------------- */
/**
* Created on: Feb 3, 2010
* @brief: purely functional binary tree
* @author Chris Beall
* @author Frank Dellaert
* @file BTree.h
* @brief purely functional binary tree
* @author Chris Beall
* @author Frank Dellaert
* @date Feb 3, 2010
*/
#include <stack>
@ -24,7 +25,8 @@
namespace gtsam {
/**
* @brief Binary tree
* @brief Binary tree
* @ingroup base
*/
template<class KEY, class VALUE>
class BTree {
@ -36,7 +38,7 @@ namespace gtsam {
private:
/**
* @brief Node in a tree
* Node in a tree
*/
struct Node {
@ -49,7 +51,8 @@ namespace gtsam {
}
/**
* leaf node with height 1
* Create leaf node with height 1
* @param keyValue (key,value) pair
*/
Node(const value_type& keyValue) :
height_(1), keyValue_(keyValue) {

21
gtsam/base/DSF.h
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@ -10,14 +10,10 @@
* -------------------------------------------------------------------------- */
/**
* DSF.h
*
* Created on: Mar 26, 2010
* @Author Kai Ni
* @brief An implementation of Disjoint set forests (see CLR page 446 and up)
* Quoting from CLR: A disjoint-set data structure maintains a collection
* S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by
* a representative, which is some member of the set.
* @file DSF.h
* @date Mar 26, 2010
* @author Kai Ni
* @brief An implementation of Disjoint set forests (see CLR page 446 and up)
*/
#pragma once
@ -31,6 +27,15 @@
namespace gtsam {
/**
* Disjoint Set Forest class
*
* Quoting from CLR: A disjoint-set data structure maintains a collection
* S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by
* a representative, which is some member of the set.
*
* @ingroup base
*/
template <class KEY>
class DSF : protected BTree<KEY, KEY> {

12
gtsam/base/DSFVector.cpp
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@ -9,13 +9,11 @@
* -------------------------------------------------------------------------- */
/*
* DSFVector.cpp
*
* Created on: Jun 25, 2010
* Author: nikai
* Description: a faster implementation for DSF, which uses vector rather than btree.
* As a result, the size of the forest is prefixed.
/**
* @file DSFVector.cpp
* @date Jun 25, 2010
* @author Kai Ni
* @brief a faster implementation for DSF, which uses vector rather than btree.
*/
#include <boost/make_shared.hpp>

42
gtsam/base/DSFVector.h
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@ -9,13 +9,11 @@
* -------------------------------------------------------------------------- */
/*
* DSFVector.h
*
* Created on: Jun 25, 2010
* @Author nikai
* @brief a faster implementation for DSF, which uses vector rather than btree.
* As a result, the size of the forest is prefixed.
/**
* @file DSFVector.h
* @date Jun 25, 2010
* @author Kai Ni
* @brief A faster implementation for DSF, which uses vector rather than btree. As a result, the size of the forest is prefixed.
*/
#pragma once
@ -28,28 +26,30 @@
namespace gtsam {
/**
* A fast impelementation of disjoint set forests that uses vector as underly data structure.
* A fast implementation of disjoint set forests that uses vector as underly data structure.
* @ingroup base
*/
class DSFVector {
public:
typedef std::vector<size_t> V;
typedef size_t Label;
typedef std::vector<size_t>::const_iterator const_iterator;
typedef std::vector<size_t>::iterator iterator;
typedef std::vector<size_t> V; ///< Vector of ints
typedef size_t Label; ///< Label type
typedef V::const_iterator const_iterator; ///< const iterator over V
typedef V::iterator iterator;///< iterator over V
private:
boost::shared_ptr<V> v_; // could use existing memory to improve the efficiency
// TODO could use existing memory to improve the efficiency
boost::shared_ptr<V> v_;
std::vector<size_t> keys_;
public:
// constructor that allocate a new memory
/// constructor that allocate a new memory
DSFVector(const size_t numNodes);
// constructor that uses the existing memory
/// constructor that uses the existing memory
DSFVector(const boost::shared_ptr<V>& v_in, const std::vector<size_t>& keys);
// find the label of the set in which {key} lives
/// find the label of the set in which {key} lives
inline Label findSet(size_t key) const {
size_t parent = (*v_)[key];
while (parent != key) {
@ -59,17 +59,19 @@ namespace gtsam {
return parent;
}
// find whether there is one and only one occurrence for the given {label}
/// 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
/// get the nodes in the tree with the given label
std::set<size_t> set(const Label& label) const;
// return all sets, i.e. a partition of all elements
/// return all sets, i.e. a partition of all elements
std::map<Label, std::set<size_t> > sets() const;
/// return all sets, i.e. a partition of all elements
std::map<Label, std::vector<size_t> > arrays() const;
// the in-place version of makeUnion
/// the in-place version of makeUnion
void makeUnionInPlace(const size_t& i1, const size_t& i2);
};

3
gtsam/base/FastList.h
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@ -13,7 +13,7 @@
* @file FastList.h
* @brief A thin wrapper around std::list that uses boost's fast_pool_allocator.
* @author Richard Roberts
* @created Oct 22, 2010
* @date Oct 22, 2010
*/
#pragma once
@ -29,6 +29,7 @@ namespace gtsam {
* convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the fast_pool_allocator can lead to speedups of several
* percent.
* @ingroup base
*/
template<typename VALUE>
class FastList: public std::list<VALUE, boost::fast_pool_allocator<VALUE> > {

4
gtsam/base/FastMap.h
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@ -13,7 +13,7 @@
* @file FastMap.h
* @brief A thin wrapper around std::map that uses boost's fast_pool_allocator.
* @author Richard Roberts
* @created Oct 17, 2010
* @date Oct 17, 2010
*/
#pragma once
@ -30,8 +30,8 @@ namespace gtsam {
* convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the fast_pool_allocator can lead to speedups of several
* percent.
* @ingroup base
*/
template<typename KEY, typename VALUE>
class FastMap : public std::map<KEY, VALUE, std::less<KEY>, boost::fast_pool_allocator<std::pair<const KEY, VALUE> > > {

6
gtsam/base/FastSet.h
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@ -13,7 +13,7 @@
* @file FastSet.h
* @brief A thin wrapper around std::set that uses boost's fast_pool_allocator.
* @author Richard Roberts
* @created Oct 17, 2010
* @date Oct 17, 2010
*/
#pragma once
@ -27,8 +27,8 @@ namespace gtsam {
* FastSet is a thin wrapper around std::set that uses the boost
* fast_pool_allocator instead of the default STL allocator. This is just a
* convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the fast_pool_allocator can lead to speedups of several
* percent.
* we've seen that the fast_pool_allocator can lead to speedups of several %.
* @ingroup base
*/
template<typename VALUE>
class FastSet : public std::set<VALUE, std::less<VALUE>, boost::fast_pool_allocator<VALUE> > {

8
gtsam/base/FastVector.h
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@ -10,10 +10,10 @@
* -------------------------------------------------------------------------- */
/**
* @file FastSet.h
* @file FastVector.h
* @brief A thin wrapper around std::vector that uses boost's pool_allocator.
* @author Richard Roberts
* @created Feb 9, 2011
* @date Feb 9, 2011
*/
#pragma once
@ -27,8 +27,8 @@ namespace gtsam {
* FastVector is a thin wrapper around std::vector that uses the boost
* pool_allocator instead of the default STL allocator. This is just a
* convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the pool_allocator can lead to speedups of several
* percent.
* we've seen that the pool_allocator can lead to speedups of several %
* @ingroup base
*/
template<typename VALUE>
class FastVector: public std::vector<VALUE, boost::pool_allocator<VALUE> > {

10
gtsam/base/Lie-inl.h
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@ -9,11 +9,11 @@
* -------------------------------------------------------------------------- */
/*
* LieBaseImplementations.h
*
* Created on: Jan 9, 2010
* Author: richard
/**
* @file Lie-inl.h
* @date Jan 9, 2010
* @author Richard Roberts
* @brief Instantiate macro for Lie type
*/
#pragma once

3
gtsam/base/Testable.h
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */
/**
* @file Testable
* @file Testable.h
* @brief Abstract base class for values that can be used in unit tests
* @author Frank Dellaert
*
@ -44,6 +44,7 @@ namespace gtsam {
* The Testable class should be templated with the derived class, e.g.
* class Rot3 : public Testable<Rot3>. This allows us to define the
* input type of equals as a Rot3 as well.
* @ingroup base
*/
template <class Derived>
class Testable {

6
gtsam/base/blockMatrices.h
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@ -13,7 +13,7 @@
* @file blockMatrices.h
* @brief Access to matrices via blocks of pre-defined sizes. Used in GaussianFactor and GaussianConditional.
* @author Richard Roberts
* @created Sep 18, 2010
* @date Sep 18, 2010
*/
#pragma once
@ -39,6 +39,8 @@ template<class MATRIX> class SymmetricBlockView;
* determines the apparent *exclusive* last row for all operations. To include
* all rows, rowEnd() should be set to the number of rows in the matrix (i.e.
* one after the last true row index).
*
* @ingroup base
*/
template<class MATRIX>
class VerticalBlockView {
@ -313,6 +315,8 @@ private:
* This class also has a parameter that can be changed after construction to
* change the apparent matrix view. firstBlock() determines the block that
* appears to have index 0 for all operations (except re-setting firstBlock()).
*
* @ingroup base
*/
template<class MATRIX>
class SymmetricBlockView {

2
gtsam/base/cholesky.cpp
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@ -13,7 +13,7 @@
* @file cholesky.cpp
* @brief Efficient incomplete Cholesky on rank-deficient matrices, todo: constrained Cholesky
* @author Richard Roberts
* @created Nov 5, 2010
* @date Nov 5, 2010
*/
#include <gtsam/base/debug.h>

2
gtsam/base/cholesky.h
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@ -13,7 +13,7 @@
* @file cholesky.h
* @brief Efficient incomplete Cholesky on rank-deficient matrices, todo: constrained Cholesky
* @author Richard Roberts
* @created Nov 5, 2010
* @date Nov 5, 2010
*/
#pragma once

4
gtsam/base/debug.cpp
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@ -1,8 +1,8 @@
/**
* @file debug.cpp
* @brief
* @brief Global debugging flags
* @author Richard Roberts
* @created Feb 1, 2011
* @date Feb 1, 2011
*/
#include <gtsam/base/debug.h>

2
gtsam/base/debug.h
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@ -2,7 +2,7 @@
* @file debug.h
* @brief Global debugging flags
* @author Richard Roberts
* @created Feb 1, 2011
* @date Feb 1, 2011
*/
#include <gtsam/base/FastMap.h>

4
gtsam/base/timing.cpp
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@ -11,9 +11,9 @@
/**
* @file timing.cpp
* @brief
* @brief Timing utilities
* @author Richard Roberts, Michael Kaess
* @created Oct 5, 2010
* @date Oct 5, 2010
*/
#include <stdio.h>

4
gtsam/base/timing.h
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@ -11,9 +11,9 @@
/**
* @file timing.h
* @brief
* @brief Timing utilities
* @author Richard Roberts, Michael Kaess
* @created Oct 5, 2010
* @date Oct 5, 2010
*/
#pragma once

17
gtsam/base/types.h
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@ -10,10 +10,11 @@
* -------------------------------------------------------------------------- */
/**
* @file types.h
* @brief Typedefs for easier changing of types
* @author Richard Roberts
* @created Aug 21, 2010
* @file types.h
* @brief Typedefs for easier changing of types
* @author Richard Roberts
* @date Aug 21, 2010
* @defgroup base
*/
#pragma once
@ -22,12 +23,11 @@
namespace gtsam {
/**
* Integer variable index type
*/
/// Integer variable index type
typedef size_t Index;
/** Helper class that uses templates to select between two types based on
/**
* Helper class that uses templates to select between two types based on
* whether TEST_TYPE is const or not.
*/
template<typename TEST_TYPE, typename BASIC_TYPE, typename AS_NON_CONST,
@ -40,6 +40,7 @@ namespace gtsam {
struct const_selector<BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST> {
typedef AS_NON_CONST type;
};
/** Specialization for the const version */
template<typename BASIC_TYPE, typename AS_NON_CONST, typename AS_CONST>
struct const_selector<const BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST> {