Reworked Values filtering to use boost range, so much less code and simpler syntax
Richard Roberts
parent
8517f852fd
commit
84f5d87b52
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@ -34,6 +34,10 @@
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#include <boost/function.hpp>
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#include <boost/bind.hpp>
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#include <boost/ptr_container/serialize_ptr_map.hpp>
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#include <boost/range/iterator_range.hpp>
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#include <boost/range/adaptor/filtered.hpp>
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#include <boost/range/adaptor/transformed.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <gtsam/base/Value.h>
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#include <gtsam/base/FastMap.h>
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@ -82,20 +86,11 @@ namespace gtsam {
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/// A shared_ptr to this class
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typedef boost::shared_ptr<Values> shared_ptr;
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/// A pair of references to the key and value, the dereferenced type of the iterator and reverse_iterator
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struct KeyValuePair {
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const Key first;
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Value& second;
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KeyValuePair(Key key, Value& value) : first(key), second(value) {}
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};
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/// A key-value pair, which you get by dereferencing iterators
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typedef std::pair<const Key, Value&> KeyValuePair;
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/// A pair of const references to the key and value, the dereferenced type of the const_iterator and const_reverse_iterator
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struct ConstKeyValuePair {
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const Key first;
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const Value& second;
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ConstKeyValuePair(Key key, const Value& value) : first(key), second(value) {}
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ConstKeyValuePair(const KeyValuePair& key_value) : first(key_value.first), second(key_value.second) {}
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};
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/// A key-value pair, which you get by dereferencing iterators
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typedef std::pair<const Key, const Value&> ConstKeyValuePair;
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/// Mutable forward iterator, with value type KeyValuePair
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typedef boost::transform_iterator<
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@ -113,26 +108,40 @@ namespace gtsam {
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typedef boost::transform_iterator<
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boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_reverse_iterator> const_reverse_iterator;
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/// Mutable filtered iterator
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typedef boost::filter_iterator<boost::function<bool(const KeyValuePair&)>, iterator> filter_iterator;
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/// Const filtered iterator
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typedef boost::filter_iterator<boost::function<bool(const ConstKeyValuePair&)>, const_iterator> const_filter_iterator;
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/// Mutable type-filtered iterator
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template<class ValueType>
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struct type_filter_iterator {
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typedef boost::transform_iterator<
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std::pair<const Key, ValueType&>(*)(KeyValuePair),
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boost::filter_iterator<bool(*)(const KeyValuePair&), iterator> > type;
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class Filtered : public boost::transformed_range<
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std::pair<const Key, ValueType&>(*)(KeyValuePair key_value),
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const boost::filtered_range<
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boost::function<bool(const ConstKeyValuePair&)>,
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const boost::iterator_range<iterator> > > {
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private:
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typedef boost::transformed_range<
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std::pair<const Key, ValueType&>(*)(KeyValuePair key_value),
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const boost::filtered_range<
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boost::function<bool(const ConstKeyValuePair&)>,
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const boost::iterator_range<iterator> > > Base;
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Filtered(const Base& base) : Base(base) {}
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friend class Values;
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};
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/// Const type-filtered iterator
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template<class ValueType>
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struct const_type_filter_iterator {
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typedef boost::transform_iterator<
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std::pair<const Key, const ValueType&>(*)(ConstKeyValuePair),
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boost::filter_iterator<bool(*)(const ConstKeyValuePair&), const_iterator> > type;
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class ConstFiltered : public boost::transformed_range<
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std::pair<const Key, const ValueType&>(*)(ConstKeyValuePair key_value),
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const boost::filtered_range<
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boost::function<bool(const ConstKeyValuePair&)>,
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const boost::iterator_range<const_iterator> > > {
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private:
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typedef boost::transformed_range<
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std::pair<const Key, const ValueType&>(*)(ConstKeyValuePair key_value),
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const boost::filtered_range<
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boost::function<bool(const ConstKeyValuePair&)>,
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const boost::iterator_range<const_iterator> > > Base;
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ConstFiltered(const Base& base) : Base(base) {}
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friend class Values;
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};
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/** Default constructor creates an empty Values class */
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@ -215,86 +224,6 @@ namespace gtsam {
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reverse_iterator rbegin() { return boost::make_transform_iterator(values_.rbegin(), &make_deref_pair); }
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reverse_iterator rend() { return boost::make_transform_iterator(values_.rend(), &make_deref_pair); }
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/** Iterator over a subset of the Key-Value pairs, for which the given
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* \c filter function returns true when evaluated on the Key. */
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const_filter_iterator beginFilterByKey(const boost::function<bool(Key)>& filter) const {
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return boost::make_filter_iterator(
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boost::function<bool(const ConstKeyValuePair&)>(boost::bind(filter, boost::bind(&ConstKeyValuePair::first, _1))),
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begin(), end()); }
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/** Iterator over a subset of the Key-Value pairs, for which the given
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* \c filter function returns true when evaluated on the Key. */
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const_filter_iterator endFilterByKey(const boost::function<bool(Key)>& filter) const {
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return boost::make_filter_iterator(
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boost::function<bool(const ConstKeyValuePair&)>(boost::bind(filter, boost::bind(&ConstKeyValuePair::first, _1))),
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end(), end()); }
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/** Iterator over a subset of the Key-Value pairs, for which the given
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* \c filter function returns true when evaluated on the Key. */
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filter_iterator beginFilterByKey(const boost::function<bool(Key)>& filter) {
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return boost::make_filter_iterator(
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boost::function<bool(const KeyValuePair&)>(boost::bind(filter, boost::bind(&KeyValuePair::first, _1))),
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begin(), end()); }
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/** Iterator over a subset of the Key-Value pairs, for which the given
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* \c filter function returns true when evaluated on the Key. */
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filter_iterator endFilterByKey(const boost::function<bool(Key)>& filter) {
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return boost::make_filter_iterator(
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boost::function<bool(const KeyValuePair&)>(boost::bind(filter, boost::bind(&KeyValuePair::first, _1))),
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end(), end()); }
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private:
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template<class ValueType, class KeyValue>
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static bool _typeFilterHelper(const KeyValue& key_value) {
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return typeid(ValueType) == typeid(key_value.second);
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}
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template<class ValueType>
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static std::pair<const Key, const ValueType&> _typeCastHelperConst(ConstKeyValuePair key_value) {
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return std::make_pair<const Key, const ValueType&>(key_value.first, static_cast<const ValueType&>(key_value.second)); }
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template<class ValueType>
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static std::pair<const Key, ValueType&> _typeCastHelper(KeyValuePair key_value) {
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return std::make_pair<const Key, ValueType&>(key_value.first, static_cast<ValueType&>(key_value.second)); }
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public:
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/** Iterator over a subset of the Key-Value pairs, for which the Value type
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* matches the template parameter \c ValueType.
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*/
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template<class ValueType>
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typename const_type_filter_iterator<ValueType>::type beginFilterByType() const {
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return boost::make_transform_iterator(
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boost::filter_iterator<bool(*)(ConstKeyValuePair), const_iterator>(&_typeFilterHelper<ValueType,ConstKeyValuePair>, begin(), end()),
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&_typeCastHelperConst<ValueType>); }
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/** Iterator over a subset of the Key-Value pairs, for which the Value type
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* matches the template parameter \c ValueType.
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*/
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template<class ValueType>
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typename const_type_filter_iterator<ValueType>::type endFilterByType() const {
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return boost::make_transform_iterator(
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boost::filter_iterator<bool(*)(ConstKeyValuePair), const_iterator>(&_typeFilterHelper<ValueType,ConstKeyValuePair>, end(), end()),
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&_typeCastHelperConst<ValueType>); }
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/** Iterator over a subset of the Key-Value pairs, for which the Value type
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* matches the template parameter \c ValueType.
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*/
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template<class ValueType>
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typename type_filter_iterator<ValueType>::type beginFilterByType() {
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return boost::make_transform_iterator(
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boost::make_filter_iterator(&_typeFilterHelper<ValueType,KeyValuePair>, begin(), end()),
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&_typeCastHelper<ValueType>); }
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/** Iterator over a subset of the Key-Value pairs, for which the Value type
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* matches the template parameter \c ValueType.
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*/
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template<class ValueType>
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typename type_filter_iterator<ValueType>::type endFilterByType() {
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return boost::make_transform_iterator(
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boost::make_filter_iterator(&_typeFilterHelper<ValueType,KeyValuePair>, end(), end()),
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&_typeCastHelper<ValueType>); }
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/// @name Manifold Operations
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/// @{
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@ -350,7 +279,117 @@ namespace gtsam {
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*/
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Ordering::shared_ptr orderingArbitrary(Index firstVar = 0) const;
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/**
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* Return a filtered view of this Values class, without copying any data.
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* When iterating over the filtered view, only the key-value pairs
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* with a key causing \c filterFcn to return \c true are visited. Because
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* the object Filtered<Value> returned from filter() is only a
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* <emph>view</emph> the original Values object must not be deallocated or
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* go out of scope as long as the view is needed.
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* @param filterFcn The function that determines which key-value pairs are
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* included in the filtered view, for which this function returns \c true
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* on their keys.
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* @return A filtered view of the original Values class, which references
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* the original Values class.
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*/
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Filtered<Value>
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filter(const boost::function<bool(Key)>& filterFcn) {
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return filter<Value>(filterFcn);
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}
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/**
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* Return a filtered view of this Values class, without copying any data.
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* In this templated version, only key-value pairs whose value matches the
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* template argument \c ValueType and whose key causes the function argument
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* \c filterFcn to return true are visited when iterating over the filtered
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* view. Because the object Filtered<Value> returned from filter() is only
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* a <emph>view</emph> the original Values object must not be deallocated or
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* go out of scope as long as the view is needed.
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* @tparam ValueType The type that the value in a key-value pair must match
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* to be included in the filtered view. Currently, base classes are not
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* resolved so the type must match exactly, except if ValueType = Value, in
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* which case no type filtering is done.
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* @param filterFcn The function that determines which key-value pairs are
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* included in the filtered view, for which this function returns \c true
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* on their keys (default: always return true so that filter() only
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* filters by type, matching \c ValueType).
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* @return A filtered view of the original Values class, which references
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* the original Values class.
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*/
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template<class ValueType>
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Filtered<ValueType>
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filter(const boost::function<bool(Key)>& filterFcn = (boost::lambda::_1, true)) {
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return boost::adaptors::transform(
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boost::adaptors::filter(
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boost::make_iterator_range(begin(), end()),
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boost::function<bool(const ConstKeyValuePair&)>(
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boost::bind(&filterHelper<ValueType>, filterFcn, _1))),
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&castHelper<ValueType, KeyValuePair>);
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}
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/**
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* Return a filtered view of this Values class, without copying any data.
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* When iterating over the filtered view, only the key-value pairs
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* with a key causing \c filterFcn to return \c true are visited. Because
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* the object Filtered<Value> returned from filter() is only a
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* <emph>view</emph> the original Values object must not be deallocated or
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* go out of scope as long as the view is needed.
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* @param filterFcn The function that determines which key-value pairs are
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* included in the filtered view, for which this function returns \c true
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* on their keys.
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* @return A filtered view of the original Values class, which references
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* the original Values class.
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*/
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ConstFiltered<Value>
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filter(const boost::function<bool(Key)>& filterFcn) const {
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return filter<Value>(filterFcn);
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}
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/**
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* Return a filtered view of this Values class, without copying any data.
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* In this templated version, only key-value pairs whose value matches the
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* template argument \c ValueType and whose key causes the function argument
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* \c filterFcn to return true are visited when iterating over the filtered
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* view. Because the object Filtered<Value> returned from filter() is only
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* a <emph>view</emph> the original Values object must not be deallocated or
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* go out of scope as long as the view is needed.
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* @tparam ValueType The type that the value in a key-value pair must match
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* to be included in the filtered view. Currently, base classes are not
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* resolved so the type must match exactly, except if ValueType = Value, in
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* which case no type filtering is done.
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* @param filterFcn The function that determines which key-value pairs are
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* included in the filtered view, for which this function returns \c true
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* on their keys.
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* @return A filtered view of the original Values class, which references
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* the original Values class.
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*/
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template<class ValueType>
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ConstFiltered<ValueType>
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filter(const boost::function<bool(Key)>& filterFcn = (boost::lambda::_1, true)) const {
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return boost::adaptors::transform(
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boost::adaptors::filter(
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boost::make_iterator_range(begin(), end()),
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boost::function<bool(const ConstKeyValuePair&)>(
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boost::bind(&filterHelper<ValueType>, filterFcn, _1))),
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&castHelper<const ValueType, ConstKeyValuePair>);
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}
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private:
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// Filters based on ValueType (if not Value) and also based on the user-
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// supplied \c filter function.
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template<class ValueType>
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static bool filterHelper(const boost::function<bool(Key)> filter, const ConstKeyValuePair& key_value) {
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// Filter and check the type
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return filter(key_value.first) && (typeid(ValueType) == typeid(key_value.second) || typeid(ValueType) == typeid(Value));
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}
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// Cast to the derived ValueType
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template<class ValueType, class KeyValuePairType>
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static std::pair<const Key, ValueType&> castHelper(KeyValuePairType key_value) {
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// Static cast because we already checked the type during filtering
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return std::pair<const Key, ValueType&>(key_value.first, static_cast<ValueType&>(key_value.second));
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}
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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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@ -273,35 +273,36 @@ TEST(Values, filter) {
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// Filter by key
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int i = 0;
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for(Values::filter_iterator it = values.beginFilterByKey(boost::bind(std::greater_equal<Key>(), _1, 2));
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it != values.endFilterByKey(boost::bind(std::greater_equal<Key>(), _1, 2)); ++it, ++i) {
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Values::Filtered<Value> filtered = values.filter(boost::bind(std::greater_equal<Key>(), _1, 2));
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BOOST_FOREACH(const Values::Filtered<Value>::value_type& key_value, filtered) {
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if(i == 0) {
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LONGS_EQUAL(2, it->first);
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EXPECT(typeid(Pose2) == typeid(it->second));
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EXPECT(assert_equal(pose2, dynamic_cast<const Pose2&>(it->second)));
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LONGS_EQUAL(2, key_value.first);
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EXPECT(typeid(Pose2) == typeid(key_value.second));
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EXPECT(assert_equal(pose2, dynamic_cast<const Pose2&>(key_value.second)));
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} else if(i == 1) {
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LONGS_EQUAL(3, it->first);
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EXPECT(typeid(Pose3) == typeid(it->second));
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EXPECT(assert_equal(pose3, dynamic_cast<const Pose3&>(it->second)));
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LONGS_EQUAL(3, key_value.first);
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EXPECT(typeid(Pose3) == typeid(key_value.second));
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EXPECT(assert_equal(pose3, dynamic_cast<const Pose3&>(key_value.second)));
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} else {
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EXPECT(false);
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}
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++ i;
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}
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LONGS_EQUAL(2, i);
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// Filter by type
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i = 0;
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for(Values::type_filter_iterator<Pose3>::type it = values.beginFilterByType<Pose3>();
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it != values.endFilterByType<Pose3>(); ++it, ++i) {
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BOOST_FOREACH(const Values::Filtered<Pose3>::value_type& key_value, values.filter<Pose3>()) {
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if(i == 0) {
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LONGS_EQUAL(1, it->first);
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EXPECT(assert_equal(pose1, it->second));
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LONGS_EQUAL(1, key_value.first);
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EXPECT(assert_equal(pose1, key_value.second));
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} else if(i == 1) {
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LONGS_EQUAL(3, it->first);
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EXPECT(assert_equal(pose3, it->second));
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LONGS_EQUAL(3, key_value.first);
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EXPECT(assert_equal(pose3, key_value.second));
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} else {
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EXPECT(false);
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}
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++ i;
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}
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LONGS_EQUAL(2, i);
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}
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