Derived value

gtsam/base/DerivedValue.cpp

@@ -0,0 +1,21 @@
+/*
+ * DerivedValue.cpp
+ *
+ *  Created on: Jan 26, 2012
+ *      Author: thduynguyen
+ */
+
+#include "DerivedValue.h"
+
+namespace gtsam {
+
+DerivedValue::DerivedValue() {
+	// TODO Auto-generated constructor stub
+
+}
+
+DerivedValue::~DerivedValue() {
+	// TODO Auto-generated destructor stub
+}
+
+} /* namespace gtsam */

gtsam/base/DerivedValue.h

@@ -0,0 +1,76 @@
+/*
+ * DerivedValue.h
+ *
+ *  Created on: Jan 26, 2012
+ *      Author: thduynguyen
+ */
+
+#pragma once
+
+#include <boost/pool/singleton_pool.hpp>
+#include <gtsam/base/Value.h>
+namespace gtsam {
+
+template<class DERIVED>
+class DerivedValue : public Value {
+private:
+	/// Fake Tag struct for singleton pool allocator. In fact, it is never used!
+	struct PoolTag { };
+
+public:
+
+	DerivedValue() {}
+
+	virtual ~DerivedValue() {}
+
+  /**
+   * Create a duplicate object returned as a pointer to the generic Value interface.
+   * For the shake of performance, this function use singleton pool allocator instead of the normal heap allocator
+   */
+  virtual Value* clone_() const {
+  	void *place = boost::singleton_pool<PoolTag, sizeof(DERIVED)>::malloc();
+  	DERIVED* ptr = new(place) DERIVED(static_cast<const DERIVED&>(*this));
+  	return ptr;
+  }
+
+  /**
+   * Create a duplicate object returned as a pointer to the generic Value interface
+   */
+  virtual void deallocate_() const {
+  	boost::singleton_pool<PoolTag, sizeof(DERIVED)>::free((void*)this);
+  }
+
+  /// equals implementing generic Value interface
+  virtual bool equals_(const Value& p, double tol = 1e-9) const {
+    // Cast the base class Value pointer to a derived class pointer
+    const DERIVED& derivedValue2 = dynamic_cast<const DERIVED&>(p);
+
+    // Return the result of calling equals on the derived class
+    return (static_cast<const DERIVED*>(this))->equals(derivedValue2, tol);
+//  	return CallDerivedEquals(this, p, tol);
+  }
+
+  /// Generic Value interface version of retract
+	virtual std::auto_ptr<Value> retract_(const Vector& delta) const {
+    // Call retract on the derived class
+    const DERIVED retractResult = (static_cast<const DERIVED*>(this))->retract(delta);
+
+    // Create a Value pointer copy of the result
+    std::auto_ptr<Value> resultAsValue(new DERIVED(retractResult));
+
+    // Return the pointer to the Value base class
+    return resultAsValue;
+	}
+
+	/// Generic Value interface version of localCoordinates
+	virtual Vector localCoordinates_(const Value& value2) const {
+    // Cast the base class Value pointer to a derived class pointer
+    const DERIVED& derivedValue2 = dynamic_cast<const DERIVED&>(value2);
+
+    // Return the result of calling localCoordinates on the derived class
+    return (static_cast<const DERIVED*>(this))->localCoordinates(derivedValue2);
+	}
+
+};
+
+} /* namespace gtsam */

gtsam/base/Value.h

@@ -102,14 +102,17 @@ namespace gtsam {
   public:
 
     /** Allocate and construct a clone of this value */
-    virtual std::auto_ptr<Value> clone_() const = 0;
+    virtual Value* clone_() const = 0;
 
-    /** Print this value, for debugging and unit tests */
+    /** Deallocate a raw pointer of this value */
-    virtual void print(const std::string& str = "") const = 0;
+    virtual void deallocate_() const = 0;
 
     /** Compare this Value with another for equality. */
     virtual bool equals_(const Value& other, double tol = 1e-9) const = 0;
 
+    /** Print this value, for debugging and unit tests */
+    virtual void print(const std::string& str = "") const = 0;
+
     /** Return the dimensionality of the tangent space of this value.  This is
      * the dimensionality of \c delta passed into retract() and of the vector
      * returned by localCoordinates().
@@ -136,57 +139,6 @@ namespace gtsam {
     /** Virutal destructor */
     virtual ~Value() {}
 
-  protected:
-    /** This is a convenience function to make it easy for you to implement the
-     * generic Value inferface, see the example at the top of the Value
-     * documentation.
-     * @param value1 The object on which to call equals, stored as a derived class pointer
-     * @param value2 The argument to pass to the derived equals function, strored as a Value reference
-     * @return The result of equals of the derived class
-     */
-    template<class Derived>
-    static bool CallDerivedEquals(const Derived* value1, const Value& value2, double tol) {
-      // Cast the base class Value pointer to a derived class pointer
-      const Derived& derivedValue2 = dynamic_cast<const Derived&>(value2);
-
-      // Return the result of calling equals on the derived class
-      return value1->equals(derivedValue2, tol);
-    }
-
-    /** This is a convenience function to make it easy for you to implement the
-     * generic Value inferface, see the example at the top of the Value
-     * documentation.
-     * @param derived A pointer to the derived class on which to call retract
-     * @param delta The delta vector to pass to the derived retract
-     * @return The result of retract on the derived class, stored as a Value pointer
-     */
-    template<class Derived>
-    static std::auto_ptr<Value> CallDerivedRetract(const Derived* derived, const Vector& delta) {
-      // Call retract on the derived class
-      const Derived retractResult = derived->retract(delta);
-
-      // Create a Value pointer copy of the result
-      std::auto_ptr<Value> resultAsValue(new Derived(retractResult));
-
-      // Return the pointer to the Value base class
-      return resultAsValue;
-    }
-
-    /** This is a convenience function to make it easy for you to implement the
-     * generic Value inferface, see the example at the top of the Value
-     * documentation.
-     * @param value1 The object on which to call localCoordinates, stored as a derived class pointer
-     * @param value2 The argument to pass to the derived localCoordinates function, stored as a Value reference
-     * @return The result of localCoordinates of the derived class
-     */
-    template<class Derived>
-    static Vector CallDerivedLocalCoordinates(const Derived* value1, const Value& value2) {
-      // Cast the base class Value pointer to a derived class pointer
-      const Derived& derivedValue2 = dynamic_cast<const Derived&>(value2);
-
-      // Return the result of calling localCoordinates on the derived class
-      return value1->localCoordinates(derivedValue2);
-    }
   };
 
 } /* namespace gtsam */

gtsam/geometry/Rot3.h

@@ -32,7 +32,7 @@
 #endif
 #endif
 
-#include <gtsam/base/Value.h>
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/3rdparty/Eigen/Eigen/Geometry>
 
@@ -50,7 +50,7 @@ namespace gtsam {
    * @ingroup geometry
    * \nosubgrouping
    */
-  class Rot3 : public Value {
+  class Rot3 : public DerivedValue<Rot3> {
   public:
     static const size_t dimension = 3;
 
@@ -178,11 +178,6 @@ namespace gtsam {
     static Rot3 rodriguez(double wx, double wy, double wz)
       { return rodriguez(Vector_(3,wx,wy,wz));}
 
-    /**
-     * Create a duplicate object returned as a pointer to the generic Value interface
-     */
-    virtual std::auto_ptr<Value> clone_() const { return std::auto_ptr<Value>(new Rot3(*this)); }
-
     /// @}
     /// @name Testable
     /// @{
@@ -193,9 +188,6 @@ namespace gtsam {
     /** equals with an tolerance */
     bool equals(const Rot3& p, double tol = 1e-9) const;
 
-    /** equals implementing generic Value interface */
-    virtual bool equals_(const Value& p, double tol = 1e-9) const { return CallDerivedEquals(this, p, tol); }
-
     /// @}
     /// @name Group
     /// @{
@@ -247,7 +239,7 @@ namespace gtsam {
     static size_t Dim() { return dimension; }
 
     /// return dimensionality of tangent space, DOF = 3
-    virtual size_t dim() const { return dimension; }
+    size_t dim() const { return dimension; }
 
     /**
      * The method retract() is used to map from the tangent space back to the manifold.
@@ -277,12 +269,6 @@ namespace gtsam {
     /// Returns local retract coordinates in neighborhood around current rotation
     Vector localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
 
-    /// Generic Value interface version of retract
-    virtual std::auto_ptr<Value> retract_(const Vector& omega) const { return CallDerivedRetract(this, omega); }
-
-    /// Generic Value interface version of localCoordinates
-    virtual Vector localCoordinates_(const Value& value) const { return CallDerivedLocalCoordinates(this, value); }
-
     /// @}
     /// @name Lie Group
     /// @{