Added some more functions and fixed both flag paths.

gtsam/nonlinear/Values-inl.h

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

gtsam/nonlinear/Values.h

@@ -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) {}
+      deref_iterator(const_iterator_type it) : it_(it) {}
-      std::pair<size_t, const Value&> operator*() const {
+      ConstKeyValuePair operator*() const { return {it_->first, *(it_->second)}; }
-        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 deref_iterator& other) const {
-      bool operator!=(const const_iterator& other) const { return it_ != other.it_; }
+        return it_ == other.it_;
-      const_iterator& operator++() {
+      }
+      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()); }
+    deref_iterator begin() const { return deref_iterator(values_.begin()); }
-    const_iterator end() { return const_iterator(values_.end()); }
+    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 _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 _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;

gtsam/nonlinear/tests/testValues.cpp

@@ -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
 }
 
 /* ************************************************************************* */