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Added Permutation::applyToCollection and corrected a comment

release/4.3a0
Richard Roberts 2012-06-30 19:18:19 +00:00
parent ac2d4f9fa0
commit 719e0f48a9
1 changed files with 13 additions and 2 deletions
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15
gtsam/inference/Permutation.h
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@ -133,8 +133,8 @@ public:
static Permutation PullToFront(const std::vector<Index>& toFront, size_t size, bool filterDuplicates = false);
/**
* Create a permutation that pulls the given variables to the front while
* pushing the rest to the back.
* Create a permutation that pushes the given variables to the back while
* pulling the rest to the front.
*/
static Permutation PushToBack(const std::vector<Index>& toBack, size_t size, bool filterDuplicates = false);
@ -154,6 +154,17 @@ public:
const_iterator begin() const { return rangeIndices_.begin(); } ///< Iterate through the indices
const_iterator end() const { return rangeIndices_.end(); } ///< Iterate through the indices
/** Apply the permutation to a collection, which must have operator[] defined.
* Note that permutable gtsam data structures typically have their own
* permute function to apply a permutation. Permutation::applyToCollection is
* a generic function, e.g. for STL classes.
* @param input The input collection.
* @param output The preallocated output collection, which is assigned output[i] = input[permutation[i]]
*/
template<typename INPUT_COLLECTION, typename OUTPUT_COLLECTION>
void applyToCollection(OUTPUT_COLLECTION& output, const INPUT_COLLECTION& input) const {
for(size_t i = 0; i < output.size(); ++i) output[i] = input[(*this)[i]]; }
/// @}
/// @name Advanced Interface