Clean up/format
Frank Dellaert
parent
34182bddda
commit
5f9eeb4415
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@ -19,9 +19,11 @@
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#pragma once
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#include <functional>
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#include <gtsam/base/Testable.h>
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#include <gtsam/inference/Symbol.h>
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#include <functional>
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namespace gtsam {
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/**
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@ -33,113 +35,141 @@ namespace gtsam {
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* which allows expressing "Pose 7 from robot B" as "xB7".
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*/
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class GTSAM_EXPORT LabeledSymbol {
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protected:
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protected:
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unsigned char c_, label_;
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std::uint64_t j_;
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public:
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/** Default constructor */
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public:
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/// @name Constructors
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/// @{
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/// Default constructor
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LabeledSymbol();
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/** Copy constructor */
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/// Copy constructor
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LabeledSymbol(const LabeledSymbol& key);
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/** Constructor */
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/// Constructor fro characters c and label, and integer j
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LabeledSymbol(unsigned char c, unsigned char label, std::uint64_t j);
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/** Constructor that decodes an integer gtsam::Key */
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LabeledSymbol(gtsam::Key key);
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/// Constructor that decodes an integer Key
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LabeledSymbol(Key key);
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/** Cast to integer */
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operator gtsam::Key() const;
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/// @}
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/// @name Testable
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/// @{
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// Testable Requirements
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/// Prints the LabeledSymbol with an optional prefix string.
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void print(const std::string& s = "") const;
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/// Checks if this LabeledSymbol is equal to another, tolerance is ignored.
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bool equals(const LabeledSymbol& expected, double tol = 0.0) const {
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return (*this) == expected;
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}
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/** return the integer version */
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gtsam::Key key() const { return (gtsam::Key) *this; }
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/// @}
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/// @name API
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/// @{
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/** Retrieve label character */
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/// Cast to Key
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operator Key() const;
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/// return the integer version
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Key key() const { return (Key) * this; }
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/// Retrieve label character
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inline unsigned char label() const { return label_; }
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/** Retrieve key character */
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/// Retrieve key character
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inline unsigned char chr() const { return c_; }
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/** Retrieve key index */
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/// Retrieve key index
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inline size_t index() const { return j_; }
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/** Create a string from the key */
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/// Create a string from the key
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operator std::string() const;
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/** Comparison for use in maps */
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/// Output stream operator that can be used with key_formatter (see Key.h).
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friend GTSAM_EXPORT std::ostream& operator<<(std::ostream&,
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const LabeledSymbol&);
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/// @}
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/// @name Comparison
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/// @{
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bool operator<(const LabeledSymbol& comp) const;
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bool operator==(const LabeledSymbol& comp) const;
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bool operator==(gtsam::Key comp) const;
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bool operator==(Key comp) const;
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bool operator!=(const LabeledSymbol& comp) const;
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bool operator!=(gtsam::Key comp) const;
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bool operator!=(Key comp) const;
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/** Return a filter function that returns true when evaluated on a gtsam::Key whose
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* character (when converted to a LabeledSymbol) matches \c c. Use this with the
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* Values::filter() function to retrieve all key-value pairs with the
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/** Return a filter function that returns true when evaluated on a Key whose
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* character (when converted to a LabeledSymbol) matches \c c. Use this with
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* the Values::filter() function to retrieve all key-value pairs with the
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* requested character.
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*/
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// Checks only the type
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static std::function<bool(gtsam::Key)> TypeTest(unsigned char c);
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/// @}
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/// @name Advanced API
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/// @{
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// Checks only the robot ID (label_)
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static std::function<bool(gtsam::Key)> LabelTest(unsigned char label);
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/// Checks only the type
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static std::function<bool(Key)> TypeTest(unsigned char c);
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// Checks both type and the robot ID
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static std::function<bool(gtsam::Key)> TypeLabelTest(unsigned char c, unsigned char label);
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/// Checks only the robot ID (label_)
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static std::function<bool(Key)> LabelTest(unsigned char label);
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// Converts to upper/lower versions of labels
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/// Checks both type and the robot ID
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static std::function<bool(Key)> TypeLabelTest(unsigned char c,
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unsigned char label);
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/// Converts to upper/lower versions of labels
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LabeledSymbol upper() const { return LabeledSymbol(c_, toupper(label_), j_); }
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LabeledSymbol lower() const { return LabeledSymbol(c_, tolower(label_), j_); }
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// Create a new symbol with a different character.
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LabeledSymbol newChr(unsigned char c) const { return LabeledSymbol(c, label_, j_); }
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/// Create a new symbol with a different character.
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LabeledSymbol newChr(unsigned char c) const {
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return LabeledSymbol(c, label_, j_);
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}
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// Create a new symbol with a different label.
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LabeledSymbol newLabel(unsigned char label) const { return LabeledSymbol(c_, label, j_); }
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/// Create a new symbol with a different label.
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LabeledSymbol newLabel(unsigned char label) const {
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return LabeledSymbol(c_, label, j_);
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}
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/// Output stream operator that can be used with key_formatter (see Key.h).
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friend GTSAM_EXPORT std::ostream &operator<<(std::ostream &, const LabeledSymbol &);
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private:
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/// @}
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private:
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#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
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/** Serialization function */
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/// Serialization function
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar & BOOST_SERIALIZATION_NVP(c_);
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ar & BOOST_SERIALIZATION_NVP(label_);
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ar & BOOST_SERIALIZATION_NVP(j_);
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template <class ARCHIVE>
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void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
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ar& BOOST_SERIALIZATION_NVP(c_);
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ar& BOOST_SERIALIZATION_NVP(label_);
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ar& BOOST_SERIALIZATION_NVP(j_);
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}
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#endif
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}; // \class LabeledSymbol
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/** Create a symbol key from a character, label and index, i.e. xA5. */
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inline Key mrsymbol(unsigned char c, unsigned char label, size_t j) {
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return (Key)LabeledSymbol(c,label,j);
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return (Key)LabeledSymbol(c, label, j);
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}
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/** Return the character portion of a symbol key. */
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inline unsigned char mrsymbolChr(Key key) { return LabeledSymbol(key).chr(); }
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/** Return the label portion of a symbol key. */
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inline unsigned char mrsymbolLabel(Key key) { return LabeledSymbol(key).label(); }
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inline unsigned char mrsymbolLabel(Key key) {
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return LabeledSymbol(key).label();
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}
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/** Return the index portion of a symbol key. */
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inline size_t mrsymbolIndex(Key key) { return LabeledSymbol(key).index(); }
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/// traits
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template<> struct traits<LabeledSymbol> : public Testable<LabeledSymbol> {};
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} // \namespace gtsam
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template <>
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struct traits<LabeledSymbol> : public Testable<LabeledSymbol> {};
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} // namespace gtsam
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