12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Tweak with push_back

release/4.3a0
Richard Roberts 2013-07-16 20:22:04 +00:00
parent 3f73d7801c
commit dae249be2e
1 changed files with 13 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
gtsam/inference/FactorGraphUnordered.h
View File

@ -115,7 +115,8 @@ namespace gtsam {
void push_back(const boost::shared_ptr<DERIVEDFACTOR>& factor) {
factors_.push_back(boost::shared_ptr<FACTOR>(factor)); }
/** Add a factor, will be copy-constructed into a shared_ptr (use push_back to avoid the copy). */
/** Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid
* the copy). */
template<class DERIVEDFACTOR>
void add(const DERIVEDFACTOR& factor) {
factors_.push_back(boost::make_shared<DERIVEDFACTOR>(factor)); }
@ -130,16 +131,6 @@ namespace gtsam {
push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
factors_.insert(end(), firstFactor, lastFactor); }
protected:
/** push back a BayesTree as a collection of factors. NOTE: This should be hidden in derived
* classes in favor of a type-specialized version that calls this templated function. */
template<class CLIQUE>
void push_back_bayesTree(const BayesTreeUnordered<CLIQUE>& bayesTree);
template<class DERIVEDFACTOR>
void push_back(const DERIVEDFACTOR& factor) {
add(factor); }
/** push back many factors with an iterator over plain factors (factors are copied) */
template<typename ITERATOR>
typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::value_type>::value>::type
@ -148,6 +139,17 @@ namespace gtsam {
add(*f);
}
/** Add a factor by value, will be copy-constructed (pass a shared_ptr to avoid the copy). */
template<class DERIVEDFACTOR>
void push_back(const DERIVEDFACTOR& factor) {
add(factor); }
protected:
/** push back a BayesTree as a collection of factors. NOTE: This should be hidden in derived
* classes in favor of a type-specialized version that calls this templated function. */
template<class CLIQUE>
void push_back_bayesTree(const BayesTreeUnordered<CLIQUE>& bayesTree);
public:
/** += syntax for push_back, e.g. graph += f1, f2, f3 */
template<class T>