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Added some more functions and fixed both flag paths.

release/4.3a0
Frank Dellaert 2023-01-25 21:17:03 -08:00
parent b281f62e24
commit f2fff1936b
3 changed files with 28 additions and 27 deletions
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8
gtsam/nonlinear/Values-inl.h
View File

@ -163,14 +163,14 @@ namespace gtsam {
&ValuesCastHelper<ValueType, KeyValuePair, Values::KeyValuePair>::cast)), constBegin_(
boost::make_transform_iterator(
boost::make_filter_iterator(filter,
((const Values&) values).begin(),
((const Values&) values).end()),
values._begin(),
values._end()),
&ValuesCastHelper<ValueType, ConstKeyValuePair,
Values::ConstKeyValuePair>::cast)), constEnd_(
boost::make_transform_iterator(
boost::make_filter_iterator(filter,
((const Values&) values).end(),
((const Values&) values).end()),
values._end(),
values._end()),
&ValuesCastHelper<ValueType, ConstKeyValuePair,
Values::ConstKeyValuePair>::cast)) {
}

45
gtsam/nonlinear/Values.h
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@ -187,23 +187,36 @@ namespace gtsam {
/// @name Iterator
/// @{
struct const_iterator {
struct deref_iterator {
using const_iterator_type = typename KeyValueMap::const_iterator;
const_iterator_type it_;
const_iterator(const_iterator_type it) : it_(it) {}
std::pair<size_t, const Value&> operator*() const {
return {it_->first, *(it_->second)};
deref_iterator(const_iterator_type it) : it_(it) {}
ConstKeyValuePair operator*() const { return {it_->first, *(it_->second)}; }
std::unique_ptr<ConstKeyValuePair> operator->() {
return std::make_unique<ConstKeyValuePair>(it_->first, *(it_->second));
}
bool operator==(const const_iterator& other) const { return it_ == other.it_; }
bool operator!=(const const_iterator& other) const { return it_ != other.it_; }
const_iterator& operator++() {
bool operator==(const deref_iterator& other) const {
return it_ == other.it_;
}
bool operator!=(const deref_iterator& other) const { return it_ != other.it_; }
deref_iterator& operator++() {
++it_;
return *this;
}
};
const_iterator begin() { return const_iterator(values_.begin()); }
const_iterator end() { return const_iterator(values_.end()); }
deref_iterator begin() const { return deref_iterator(values_.begin()); }
deref_iterator end() const { return deref_iterator(values_.end()); }
/** Find an element by key, returning an iterator, or end() if the key was
* not found. */
deref_iterator find(Key j) const { return deref_iterator(values_.find(j)); }
/** Find the element greater than or equal to the specified key. */
deref_iterator lower_bound(Key j) const { return deref_iterator(values_.lower_bound(j)); }
/** Find the lowest-ordered element greater than the specified key. */
deref_iterator upper_bound(Key j) const { return deref_iterator(values_.upper_bound(j)); }
/// @}
/// @name Manifold Operations
@ -363,8 +376,8 @@ namespace gtsam {
static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) {
return KeyValuePair(key_value.first, *key_value.second); }
const_iterator begin() const { return boost::make_transform_iterator(values_.begin(), &make_const_deref_pair); }
const_iterator end() const { return boost::make_transform_iterator(values_.end(), &make_const_deref_pair); }
const_iterator _begin() const { return boost::make_transform_iterator(values_.begin(), &make_const_deref_pair); }
const_iterator _end() const { return boost::make_transform_iterator(values_.end(), &make_const_deref_pair); }
iterator begin() { return boost::make_transform_iterator(values_.begin(), &make_deref_pair); }
iterator end() { return boost::make_transform_iterator(values_.end(), &make_deref_pair); }
const_reverse_iterator rbegin() const { return boost::make_transform_iterator(values_.rbegin(), &make_const_deref_pair); }
@ -376,22 +389,12 @@ namespace gtsam {
* not found. */
iterator find(Key j) { return boost::make_transform_iterator(values_.find(j), &make_deref_pair); }
/** Find an element by key, returning an iterator, or end() if the key was
* not found. */
const_iterator find(Key j) const { return boost::make_transform_iterator(values_.find(j), &make_const_deref_pair); }
/** Find the element greater than or equal to the specified key. */
iterator lower_bound(Key j) { return boost::make_transform_iterator(values_.lower_bound(j), &make_deref_pair); }
/** Find the element greater than or equal to the specified key. */
const_iterator lower_bound(Key j) const { return boost::make_transform_iterator(values_.lower_bound(j), &make_const_deref_pair); }
/** Find the lowest-ordered element greater than the specified key. */
iterator upper_bound(Key j) { return boost::make_transform_iterator(values_.upper_bound(j), &make_deref_pair); }
/** Find the lowest-ordered element greater than the specified key. */
const_iterator upper_bound(Key j) const { return boost::make_transform_iterator(values_.upper_bound(j), &make_const_deref_pair); }
/** A filtered view of a Values, returned from Values::filter. */
template <class ValueType = Value>
class Filtered;

2
gtsam/nonlinear/tests/testValues.cpp
View File

@ -203,7 +203,6 @@ TEST(Values, basic_functions)
}
EXPECT_LONGS_EQUAL(4, count);
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
// find
EXPECT_LONGS_EQUAL(4, values.find(4)->key);
EXPECT_LONGS_EQUAL(4, values_c.find(4)->key);
@ -219,7 +218,6 @@ TEST(Values, basic_functions)
EXPECT_LONGS_EQUAL(6, values_c.upper_bound(4)->key);
EXPECT_LONGS_EQUAL(4, values.upper_bound(3)->key);
EXPECT_LONGS_EQUAL(4, values_c.upper_bound(3)->key);
#endif
}
/* ************************************************************************* */