Changes to make Pose2Config work with NonlinearOptimizer
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#pragma once
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#include <map>
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#include <boost/exception.hpp>
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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#include <iostream>
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#include <string>
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#include "Pose2.h"
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#include "Testable.h"
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#include "VectorConfig.h"
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#include "Vector.h"
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// trick from some reading group
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#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
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namespace gtsam {
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class Pose2Config: public std::map<std::string, Pose2> {
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class Pose2Config: public Testable<Pose2Config> {
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private:
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std::map<std::string, Pose2> values;
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public:
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Pose2Config() {}
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Pose2Config(const Pose2Config &config) : values(config.values) { }
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virtual ~Pose2Config() { }
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Pose2 get(std::string key) const {
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std::map<std::string, Pose2>::const_iterator it = find(key);
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if (it == end())
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std::map<std::string, Pose2>::const_iterator it = values.find(key);
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if (it == values.end())
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throw std::invalid_argument("invalid key");
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return it->second;
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}
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void insert(const std::string& name, const Pose2& val){
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std::map<std::string, Pose2>::insert(make_pair(name, val));
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values.insert(make_pair(name, val));
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}
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Pose2Config& operator=(Pose2Config& rhs) {
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values = rhs.values;
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return (*this);
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}
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bool equals(const Pose2Config& expected, double tol) const {
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std::cerr << "Pose2Config::equals not implemented!" << std::endl;
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throw "Pose2Config::equals not implemented!";
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}
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void print(const std::string &s) const {
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std::cout << s << std::endl;
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}
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/**
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* Add a delta config, needed for use in NonlinearOptimizer
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*/
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Pose2Config exmap(const VectorConfig& delta) const {
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Pose2Config newConfig;
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std::string j; Pose2 vj;
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FOREACH_PAIR(j, vj, values) {
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if (delta.contains(j)) {
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const Vector& dj = delta[j];
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//check_size(j,vj,dj);
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newConfig.insert(j, vj.exmap(dj));
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} else {
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newConfig.insert(j, vj);
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}
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}
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return newConfig;
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}
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};
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} // namespace
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