From 793a9d58ae1efd586201ace21f19ab8f1eedafb8 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 30 Dec 2009 17:13:36 +0000
Subject: [PATCH] Errors is now a list

---
 cpp/Errors.cpp              | 24 ++++++++++++++----------
 cpp/Errors.h                |  2 +-
 cpp/GaussianFactorGraph.cpp |  4 ++--
 3 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/cpp/Errors.cpp b/cpp/Errors.cpp
index 55bbeb091..d75da2b2d 100644
--- a/cpp/Errors.cpp
+++ b/cpp/Errors.cpp
@@ -16,19 +16,22 @@ namespace gtsam {
 /* ************************************************************************* */
 void Errors::print(const std::string& s) const {
   odprintf("%s:\n", s.c_str());
-  for (size_t i=0;i<size();i++) {
-    odprintf("%d:", i);
-    gtsam::print((*this)[i]);
-  }
+  BOOST_FOREACH(const Vector& v, *this)
+    gtsam::print(v);
 }
 
 /* ************************************************************************* */
+struct equalsVector : public std::binary_function<const Vector&, const Vector&, bool> {
+	double tol_;
+	equalsVector(double tol = 1e-9) : tol_(tol) {}
+	bool operator()(const Vector& expected, const Vector& actual) {
+		return equal_with_abs_tol(expected, actual,tol_);
+	}
+};
+
 bool Errors::equals(const Errors& expected, double tol) const {
   if( size() != expected.size() ) return false;
-  for (size_t i=0;i<size();i++)
-    if(!equal_with_abs_tol(expected[i],(*this)[i],tol))
-    	return false;
-  return true;
+  return equal(begin(),end(),expected.begin(),equalsVector(tol));
 }
 
 /* ************************************************************************* */
@@ -37,8 +40,9 @@ double dot(const Errors& a, const Errors& b) {
   if (b.size()!=m)
     throw(std::invalid_argument("Errors::dot: incompatible sizes"));
 	double result = 0.0;
-	for (size_t i = 0; i < m; i++)
-		result += gtsam::dot(a[i], b[i]);
+	Errors::const_iterator it = b.begin();
+  BOOST_FOREACH(const Vector& ai, a)
+		result += gtsam::dot(ai, *(it++));
 	return result;
 }
 
diff --git a/cpp/Errors.h b/cpp/Errors.h
index b0f6e90bf..deb100da7 100644
--- a/cpp/Errors.h
+++ b/cpp/Errors.h
@@ -16,7 +16,7 @@
 namespace gtsam {
 	
   /** vector of errors */
-  class Errors : public std::vector<Vector>, public Testable<Errors> {
+  class Errors : public std::list<Vector>, public Testable<Errors> {
 
   public:
 
diff --git a/cpp/GaussianFactorGraph.cpp b/cpp/GaussianFactorGraph.cpp
index c0fe723ba..0d4c09f78 100644
--- a/cpp/GaussianFactorGraph.cpp
+++ b/cpp/GaussianFactorGraph.cpp
@@ -60,9 +60,9 @@ Errors GaussianFactorGraph::operator*(const VectorConfig& x) const {
 VectorConfig GaussianFactorGraph::operator^(const Errors& e) const {
 	VectorConfig x;
 	// For each factor add the gradient contribution
-	size_t i=0;
+	Errors::const_iterator it = e.begin();
 	BOOST_FOREACH(sharedFactor Ai,factors_)
-		x += (*Ai)^e[i++];
+		x += (*Ai)^(*(it++));
 	return x;
 }