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Removed mpl-based Testable scheme with GTSAM 4 traits. This means you now have to be Testable to be a "FastSet". Future plan is to completely get rid of ths data structure, which is probably all but fast.

release/4.3a0
dellaert 2015-06-20 18:36:03 -07:00
parent 926ae2c7a8
commit e0afc0e05c
1 changed files with 39 additions and 83 deletions
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112
gtsam/base/FastSet.h
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@ -18,29 +18,22 @@
#pragma once
#include <gtsam/base/FastDefaultAllocator.h>
#include <boost/mpl/has_xxx.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/serialization/serialization.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/set.hpp>
#include <gtsam/base/FastDefaultAllocator.h>
#include <gtsam/base/Testable.h>
#include <cmath>
#include <iosfwd>
#include <iostream>
#include <functional>
#include <set>
#include <string>
BOOST_MPL_HAS_XXX_TRAIT_DEF(print)
namespace boost {
namespace serialization {
class access;
} /* namespace serialization */
} /* namespace boost */
namespace gtsam {
// This is used internally to allow this container to be Testable even when it
// contains non-testable elements.
template<typename VALUE, class ENABLE = void>
struct FastSetTestableHelper;
/**
* FastSet is a thin wrapper around std::set that uses the boost
* fast_pool_allocator instead of the default STL allocator. This is just a
@ -48,12 +41,16 @@ struct FastSetTestableHelper;
* we've seen that the fast_pool_allocator can lead to speedups of several %.
* @addtogroup base
*/
template<typename VALUE, class ENABLE = void>
class FastSet: public std::set<VALUE, std::less<VALUE>, typename internal::FastDefaultAllocator<VALUE>::type> {
template<typename VALUE>
class FastSet: public std::set<VALUE, std::less<VALUE>,
typename internal::FastDefaultAllocator<VALUE>::type> {
BOOST_CONCEPT_ASSERT ((IsTestable<VALUE> ));
public:
typedef std::set<VALUE, std::less<VALUE>, typename internal::FastDefaultAllocator<VALUE>::type> Base;
typedef std::set<VALUE, std::less<VALUE>,
typename internal::FastDefaultAllocator<VALUE>::type> Base;
/** Default constructor */
FastSet() {
@ -98,17 +95,31 @@ public:
}
/** Handy 'exists' function */
bool exists(const VALUE& e) const { return this->find(e) != this->end(); }
bool exists(const VALUE& e) const {
return this->find(e) != this->end();
}
/** Print to implement Testable */
void print(const std::string& str = "") const { FastSetTestableHelper<VALUE>::print(*this, str); }
/** Print to implement Testable: pretty basic */
void print(const std::string& str = "") const {
for (typename Base::const_iterator it = this->begin(); it != this->end(); ++it)
traits<VALUE>::Print(*it, str);
}
/** Check for equality within tolerance to implement Testable */
bool equals(const FastSet<VALUE>& other, double tol = 1e-9) const { return FastSetTestableHelper<VALUE>::equals(*this, other, tol); }
bool equals(const FastSet<VALUE>& other, double tol = 1e-9) const {
typename Base::const_iterator it1 = this->begin(), it2 = other.begin();
while (it1 != this->end()) {
if (it2 == other.end() || !traits<VALUE>::Equals(*it2, *it2, tol))
return false;
++it1;
++it2;
}
return true;
}
/** insert another set: handy for MATLAB access */
void merge(const FastSet& other) {
Base::insert(other.begin(),other.end());
Base::insert(other.begin(), other.end());
}
private:
@ -120,59 +131,4 @@ private:
}
};
// This is the default Testable interface for *non*Testable elements, which
// uses stream operators.
template<typename VALUE, class ENABLE>
struct FastSetTestableHelper {
typedef FastSet<VALUE> Set;
static void print(const Set& set, const std::string& str) {
std::cout << str << "\n";
for (typename Set::const_iterator it = set.begin(); it != set.end(); ++it)
std::cout << " " << *it << "\n";
std::cout.flush();
}
static bool equals(const Set& set1, const Set& set2, double tol) {
typename Set::const_iterator it1 = set1.begin();
typename Set::const_iterator it2 = set2.begin();
while (it1 != set1.end()) {
if (it2 == set2.end() ||
fabs((double)(*it1) - (double)(*it2)) > tol)
return false;
++it1;
++it2;
}
return true;
}
};
// This is the Testable interface for Testable elements
template<typename VALUE>
struct FastSetTestableHelper<VALUE, typename boost::enable_if<has_print<VALUE> >::type> {
typedef FastSet<VALUE> Set;
static void print(const Set& set, const std::string& str) {
std::cout << str << "\n";
for (typename Set::const_iterator it = set.begin(); it != set.end(); ++it)
it->print(" ");
std::cout.flush();
}
static bool equals(const Set& set1, const Set& set2, double tol) {
typename Set::const_iterator it1 = set1.begin();
typename Set::const_iterator it2 = set2.begin();
while (it1 != set1.end()) {
if (it2 == set2.end() ||
!it1->equals(*it2, tol))
return false;
++it1;
++it2;
}
return true;
}
};
}