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Made a group about modifying graphs.

release/4.3a0
Frank Dellaert 2012-01-24 04:20:04 +00:00
parent 5010f016c7
commit 982e248f31
1 changed files with 18 additions and 14 deletions
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32
gtsam/inference/FactorGraph.h
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@ -145,6 +145,12 @@ template<class CONDITIONAL, class CLIQUE> class BayesTree;
const sharedFactor operator[](size_t i) const { assert(i<factors_.size()); return factors_[i]; } const sharedFactor operator[](size_t i) const { assert(i<factors_.size()); return factors_[i]; }
sharedFactor& operator[](size_t i) { assert(i<factors_.size()); return factors_[i]; } sharedFactor& operator[](size_t i) { assert(i<factors_.size()); return factors_[i]; }
/** STL begin, so we can use BOOST_FOREACH */
const_iterator begin() const { return factors_.begin();}
/** STL end, so we can use BOOST_FOREACH */
const_iterator end() const { return factors_.end(); }
/** Get the first factor */ /** Get the first factor */
sharedFactor front() const { return factors_.front(); } sharedFactor front() const { return factors_.front(); }
@ -152,25 +158,16 @@ template<class CONDITIONAL, class CLIQUE> class BayesTree;
sharedFactor back() const { return factors_.back(); } sharedFactor back() const { return factors_.back(); }
/// @} /// @}
/// @name Advanced Interface /// @name Modifying Factor Graphs (imperative, discouraged)
/// @{ /// @{
/** return the number valid factors */ /** non-const STL-style begin() */
size_t nrFactors() const;
/** STL begin and end, so we can use BOOST_FOREACH */
const_iterator begin() const { return factors_.begin();}
const_iterator end() const { return factors_.end(); }
/** ----------------- Modifying Factor Graphs ---------------------------- */
/** STL begin and end, so we can use BOOST_FOREACH */
iterator begin() { return factors_.begin();} iterator begin() { return factors_.begin();}
/** non-const STL-style end() */
iterator end() { return factors_.end(); } iterator end() { return factors_.end(); }
/** /** resize the factor graph. TODO: effects? */
* resize the factor graph
*/
void resize(size_t size) { factors_.resize(size); } void resize(size_t size) { factors_.resize(size); }
/** delete factor without re-arranging indexes by inserting a NULL pointer */ /** delete factor without re-arranging indexes by inserting a NULL pointer */
@ -179,6 +176,13 @@ template<class CONDITIONAL, class CLIQUE> class BayesTree;
/** replace a factor by index */ /** replace a factor by index */
void replace(size_t index, sharedFactor factor); void replace(size_t index, sharedFactor factor);
/// @}
/// @name Advanced Interface
/// @{
/** return the number valid factors */
size_t nrFactors() const;
/** dynamic_cast the factor pointers down or up the class hierarchy */ /** dynamic_cast the factor pointers down or up the class hierarchy */
template<class RELATED> template<class RELATED>
typename RELATED::shared_ptr dynamicCastFactors() const { typename RELATED::shared_ptr dynamicCastFactors() const {