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Changed "Values" typedef in LieConfig to avoid name clobbering

release/4.3a0
Alex Cunningham 2010-10-08 17:37:59 +00:00
parent 8dd9f03992
commit b4ea19f141
3 changed files with 15 additions and 16 deletions
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14
nonlinear/LieConfig-inl.h
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@ -32,7 +32,7 @@ namespace gtsam {
template<class J> template<class J>
void LieConfig<J>::print(const string &s) const { void LieConfig<J>::print(const string &s) const {
cout << "LieConfig " << s << ", size " << values_.size() << "\n"; cout << "LieConfig " << s << ", size " << values_.size() << "\n";
BOOST_FOREACH(const typename Values::value_type& v, values_) { BOOST_FOREACH(const KeyValuePair& v, values_) {
gtsam::print(v.second, (string)(v.first)); gtsam::print(v.second, (string)(v.first));
} }
} }
@ -41,7 +41,7 @@ namespace gtsam {
template<class J> template<class J>
bool LieConfig<J>::equals(const LieConfig<J>& expected, double tol) const { bool LieConfig<J>::equals(const LieConfig<J>& expected, double tol) const {
if (values_.size() != expected.values_.size()) return false; if (values_.size() != expected.values_.size()) return false;
BOOST_FOREACH(const typename Values::value_type& v, values_) { BOOST_FOREACH(const KeyValuePair& v, values_) {
if (!expected.exists(v.first)) return false; if (!expected.exists(v.first)) return false;
if(!gtsam::equal(v.second, expected[v.first], tol)) if(!gtsam::equal(v.second, expected[v.first], tol))
return false; return false;
@ -61,7 +61,7 @@ namespace gtsam {
template<class J> template<class J>
size_t LieConfig<J>::dim() const { size_t LieConfig<J>::dim() const {
size_t n = 0; size_t n = 0;
BOOST_FOREACH(const typename Values::value_type& value, values_) BOOST_FOREACH(const KeyValuePair& value, values_)
n += value.second.dim(); n += value.second.dim();
return n; return n;
} }
@ -70,7 +70,7 @@ namespace gtsam {
template<class J> template<class J>
VectorConfig LieConfig<J>::zero() const { VectorConfig LieConfig<J>::zero() const {
VectorConfig z; VectorConfig z;
BOOST_FOREACH(const typename Values::value_type& value, values_) BOOST_FOREACH(const KeyValuePair& value, values_)
z.insert(value.first,gtsam::zero(value.second.dim())); z.insert(value.first,gtsam::zero(value.second.dim()));
return z; return z;
} }
@ -84,14 +84,14 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class J> template<class J>
void LieConfig<J>::insert(const LieConfig<J>& cfg) { void LieConfig<J>::insert(const LieConfig<J>& cfg) {
BOOST_FOREACH(const typename Values::value_type& v, cfg.values_) BOOST_FOREACH(const KeyValuePair& v, cfg.values_)
insert(v.first, v.second); insert(v.first, v.second);
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class J> template<class J>
void LieConfig<J>::update(const LieConfig<J>& cfg) { void LieConfig<J>::update(const LieConfig<J>& cfg) {
BOOST_FOREACH(const typename Values::value_type& v, values_) { BOOST_FOREACH(const KeyValuePair& v, values_) {
boost::optional<typename J::Value_t> t = cfg.exists_(v.first); boost::optional<typename J::Value_t> t = cfg.exists_(v.first);
if (t) values_[v.first] = *t; if (t) values_[v.first] = *t;
} }
@ -107,7 +107,7 @@ namespace gtsam {
template<class J> template<class J>
std::list<J> LieConfig<J>::keys() const { std::list<J> LieConfig<J>::keys() const {
std::list<J> ret; std::list<J> ret;
BOOST_FOREACH(const typename Values::value_type& v, values_) BOOST_FOREACH(const KeyValuePair& v, values_)
ret.push_back(v.first); ret.push_back(v.first);
return ret; return ret;
} }

9
nonlinear/LieConfig.h
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@ -49,13 +49,14 @@ namespace gtsam {
*/ */
typedef J Key; typedef J Key;
typedef typename J::Value_t Value; typedef typename J::Value_t Value;
typedef std::map<J,Value> Values; typedef std::map<J,Value> KeyValueMap;
typedef typename Values::iterator iterator; typedef typename KeyValueMap::value_type KeyValuePair;
typedef typename Values::const_iterator const_iterator; typedef typename KeyValueMap::iterator iterator;
typedef typename KeyValueMap::const_iterator const_iterator;
private: private:
Values values_; KeyValueMap values_;
public: public:

8
nonlinear/tests/testLieConfig.cpp
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@ -1,8 +1,6 @@
/* /**
* testLieConfig.cpp * @file testLieConfig.cpp
* * @author Richard Roberts
* Created on: Jan 5, 2010
* Author: richard
*/ */
#include <gtsam/CppUnitLite/TestHarness.h> #include <gtsam/CppUnitLite/TestHarness.h>