385 lines
16 KiB
C++
385 lines
16 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file VectorValues.h
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* @brief Factor Graph Values
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* @author Richard Roberts
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*/
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#pragma once
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#include <gtsam/linear/Scatter.h>
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#include <gtsam/inference/Ordering.h>
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#include <gtsam/base/Vector.h>
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#include <gtsam/base/ConcurrentMap.h>
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#include <gtsam/base/FastVector.h>
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#include <gtsam/global_includes.h>
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#include <boost/shared_ptr.hpp>
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namespace gtsam {
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/**
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* This class represents a collection of vector-valued variables associated
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* each with a unique integer index. It is typically used to store the variables
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* of a GaussianFactorGraph. Optimizing a GaussianFactorGraph or GaussianBayesNet
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* returns this class.
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*
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* For basic usage, such as receiving a linear solution from gtsam solving functions,
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* or creating this class in unit tests and examples where speed is not important,
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* you can use a simple interface:
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* - The default constructor VectorValues() to create this class
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* - insert(Key, const Vector&) to add vector variables
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* - operator[](Key) for read and write access to stored variables
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* - \ref exists (Key) to check if a variable is present
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* - Other facilities like iterators, size(), dim(), etc.
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*
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* Indices can be non-consecutive and inserted out-of-order, but you should not
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* use indices that are larger than a reasonable array size because the indices
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* correspond to positions in an internal array.
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*
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* Example:
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* \code
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VectorValues values;
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values.insert(3, Vector3(1.0, 2.0, 3.0));
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values.insert(4, Vector2(4.0, 5.0));
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values.insert(0, (Vector(4) << 6.0, 7.0, 8.0, 9.0).finished());
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// Prints [ 3.0 4.0 ]
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gtsam::print(values[1]);
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// Prints [ 8.0 9.0 ]
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values[1] = Vector2(8.0, 9.0);
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gtsam::print(values[1]);
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\endcode
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*
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* <h2>Advanced Interface and Performance Information</h2>
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*
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* Internally, all vector values are stored as part of one large vector. In
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* gtsam this vector is always pre-allocated for efficiency, using the
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* advanced interface described below. Accessing and modifying already-allocated
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* values is \f$ O(1) \f$. Using the insert() function of the standard interface
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* is slow because it requires re-allocating the internal vector.
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*
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* For advanced usage, or where speed is important:
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* - Allocate space ahead of time using a pre-allocating constructor
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* (\ref AdvancedConstructors "Advanced Constructors"), Zero(),
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* SameStructure(), resize(), or append(). Do not use
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* insert(Key, const Vector&), which always has to re-allocate the
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* internal vector.
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* - The vector() function permits access to the underlying Vector, for
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* doing mathematical or other operations that require all values.
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* - operator[]() returns a SubVector view of the underlying Vector,
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* without copying any data.
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*
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* Access is through the variable index j, and returns a SubVector,
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* which is a view on the underlying data structure.
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*
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* This class is additionally used in gradient descent and dog leg to store the gradient.
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* \nosubgrouping
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*/
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class GTSAM_EXPORT VectorValues {
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protected:
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typedef VectorValues This;
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typedef ConcurrentMap<Key, Vector> Values; ///< Typedef for the collection of Vectors making up a VectorValues
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Values values_; ///< Collection of Vectors making up this VectorValues
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public:
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typedef Values::iterator iterator; ///< Iterator over vector values
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typedef Values::const_iterator const_iterator; ///< Const iterator over vector values
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//typedef Values::reverse_iterator reverse_iterator; ///< Reverse iterator over vector values
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//typedef Values::const_reverse_iterator const_reverse_iterator; ///< Const reverse iterator over vector values
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typedef boost::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
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typedef Values::value_type value_type; ///< Typedef to pair<Key, Vector>, a key-value pair
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typedef value_type KeyValuePair; ///< Typedef to pair<Key, Vector>, a key-value pair
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typedef std::map<Key,size_t> Dims;
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/// @name Standard Constructors
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/// @{
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/**
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* Default constructor creates an empty VectorValues.
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*/
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VectorValues() {}
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/** Merge two VectorValues into one, this is more efficient than inserting elements one by one. */
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VectorValues(const VectorValues& first, const VectorValues& second);
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/** Create from another container holding pair<Key,Vector>. */
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template<class CONTAINER>
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explicit VectorValues(const CONTAINER& c) : values_(c.begin(), c.end()) {}
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/** Implicit copy constructor to specialize the explicit constructor from any container. */
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VectorValues(const VectorValues& c) : values_(c.values_) {}
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/** Create from a pair of iterators over pair<Key,Vector>. */
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template<typename ITERATOR>
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VectorValues(ITERATOR first, ITERATOR last) : values_(first, last) {}
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/// Constructor from Vector, with Dims
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VectorValues(const Vector& c, const Dims& dims);
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/// Constructor from Vector, with Scatter
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VectorValues(const Vector& c, const Scatter& scatter);
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/** Create a VectorValues with the same structure as \c other, but filled with zeros. */
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static VectorValues Zero(const VectorValues& other);
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/// @}
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/// @name Standard Interface
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/// @{
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/** Number of variables stored. */
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size_t size() const { return values_.size(); }
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/** Return the dimension of variable \c j. */
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size_t dim(Key j) const { return at(j).rows(); }
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/** Check whether a variable with key \c j exists. */
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bool exists(Key j) const { return find(j) != end(); }
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/** Read/write access to the vector value with key \c j, throws std::out_of_range if \c j does not exist, identical to operator[](Key). */
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Vector& at(Key j) {
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iterator item = find(j);
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if(item == end())
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throw std::out_of_range(
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"Requested variable '" + DefaultKeyFormatter(j) + "' is not in this VectorValues.");
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else
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return item->second;
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}
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/** Access the vector value with key \c j (const version), throws std::out_of_range if \c j does not exist, identical to operator[](Key). */
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const Vector& at(Key j) const {
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const_iterator item = find(j);
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if(item == end())
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throw std::out_of_range(
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"Requested variable '" + DefaultKeyFormatter(j) + "' is not in this VectorValues.");
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else
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return item->second;
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}
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/** Read/write access to the vector value with key \c j, throws std::out_of_range if \c j does
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* not exist, identical to at(Key). */
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Vector& operator[](Key j) { return at(j); }
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/** Access the vector value with key \c j (const version), throws std::out_of_range if \c j does
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* not exist, identical to at(Key). */
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const Vector& operator[](Key j) const { return at(j); }
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/** For all key/value pairs in \c values, replace values with corresponding keys in this class
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* with those in \c values. Throws std::out_of_range if any keys in \c values are not present
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* in this class. */
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void update(const VectorValues& values);
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/** Insert a vector \c value with key \c j. Throws an invalid_argument exception if the key \c
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* j is already used.
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* @param value The vector to be inserted.
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* @param j The index with which the value will be associated. */
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iterator insert(Key j, const Vector& value) {
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return insert(std::make_pair(j, value));
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}
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/** Insert a vector \c value with key \c j. Throws an invalid_argument exception if the key \c
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* j is already used.
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* @param value The vector to be inserted.
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* @param j The index with which the value will be associated. */
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iterator insert(const std::pair<Key, Vector>& key_value);
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/** Insert all values from \c values. Throws an invalid_argument exception if any keys to be
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* inserted are already used. */
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void insert(const VectorValues& values);
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/** insert that mimics the STL map insert - if the value already exists, the map is not modified
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* and an iterator to the existing value is returned, along with 'false'. If the value did not
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* exist, it is inserted and an iterator pointing to the new element, along with 'true', is
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* returned. */
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std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
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return values_.insert(std::make_pair(j, value)); }
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/** Erase the vector with the given key, or throw std::out_of_range if it does not exist */
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void erase(Key var) {
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if(values_.unsafe_erase(var) == 0)
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throw std::invalid_argument("Requested variable '" + DefaultKeyFormatter(var) + "', is not in this VectorValues.");
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}
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/** Set all values to zero vectors. */
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void setZero();
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iterator begin() { return values_.begin(); } ///< Iterator over variables
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const_iterator begin() const { return values_.begin(); } ///< Iterator over variables
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iterator end() { return values_.end(); } ///< Iterator over variables
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const_iterator end() const { return values_.end(); } ///< Iterator over variables
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//reverse_iterator rbegin() { return values_.rbegin(); } ///< Reverse iterator over variables
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//const_reverse_iterator rbegin() const { return values_.rbegin(); } ///< Reverse iterator over variables
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//reverse_iterator rend() { return values_.rend(); } ///< Reverse iterator over variables
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//const_reverse_iterator rend() const { return values_.rend(); } ///< Reverse iterator over variables
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/** Return the iterator corresponding to the requested key, or end() if no variable is present with this key. */
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iterator find(Key j) { return values_.find(j); }
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/** Return the iterator corresponding to the requested key, or end() if no variable is present with this key. */
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const_iterator find(Key j) const { return values_.find(j); }
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/** print required by Testable for unit testing */
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void print(const std::string& str = "VectorValues: ",
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const KeyFormatter& formatter = DefaultKeyFormatter) const;
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/** equals required by Testable for unit testing */
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bool equals(const VectorValues& x, double tol = 1e-9) const;
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/// @{
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/// @name Advanced Interface
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/// @{
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/** Retrieve the entire solution as a single vector */
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Vector vector() const;
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/** Access a vector that is a subset of relevant keys. */
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Vector vector(const FastVector<Key>& keys) const;
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/** Access a vector that is a subset of relevant keys, dims version. */
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Vector vector(const Dims& dims) const;
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/** Swap the data in this VectorValues with another. */
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void swap(VectorValues& other);
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/** Check if this VectorValues has the same structure (keys and dimensions) as another */
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bool hasSameStructure(const VectorValues other) const;
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/// @}
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/// @name Linear algebra operations
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/// @{
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/** Dot product with another VectorValues, interpreting both as vectors of
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* their concatenated values. Both VectorValues must have the
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* same structure (checked when NDEBUG is not defined). */
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double dot(const VectorValues& v) const;
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/** Vector L2 norm */
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double norm() const;
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/** Squared vector L2 norm */
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double squaredNorm() const;
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/** Element-wise addition, synonym for add(). Both VectorValues must have the same structure
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* (checked when NDEBUG is not defined). */
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VectorValues operator+(const VectorValues& c) const;
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/** Element-wise addition, synonym for operator+(). Both VectorValues must have the same
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* structure (checked when NDEBUG is not defined). */
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VectorValues add(const VectorValues& c) const;
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/** Element-wise addition in-place, synonym for operator+=(). Both VectorValues must have the
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* same structure (checked when NDEBUG is not defined). */
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VectorValues& operator+=(const VectorValues& c);
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/** Element-wise addition in-place, synonym for operator+=(). Both VectorValues must have the
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* same structure (checked when NDEBUG is not defined). */
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VectorValues& addInPlace(const VectorValues& c);
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/** Element-wise addition in-place, but allows for empty slots in *this. Slower */
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VectorValues& addInPlace_(const VectorValues& c);
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/** Element-wise subtraction, synonym for subtract(). Both VectorValues must have the same
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* structure (checked when NDEBUG is not defined). */
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VectorValues operator-(const VectorValues& c) const;
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/** Element-wise subtraction, synonym for operator-(). Both VectorValues must have the same
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* structure (checked when NDEBUG is not defined). */
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VectorValues subtract(const VectorValues& c) const;
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/** Element-wise scaling by a constant. */
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friend GTSAM_EXPORT VectorValues operator*(const double a, const VectorValues &v);
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/** Element-wise scaling by a constant. */
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VectorValues scale(const double a) const;
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/** Element-wise scaling by a constant in-place. */
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VectorValues& operator*=(double alpha);
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/** Element-wise scaling by a constant in-place. */
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VectorValues& scaleInPlace(double alpha);
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/// @}
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/// @}
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/// @name Matlab syntactic sugar for linear algebra operations
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/// @{
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//inline VectorValues scale(const double a, const VectorValues& c) const { return a * (*this); }
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/// @}
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/**
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* scale a vector by a scalar
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*/
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//friend VectorValues operator*(const double a, const VectorValues &v) {
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// VectorValues result = VectorValues::SameStructure(v);
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// for(Key j = 0; j < v.size(); ++j)
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// result.values_[j] = a * v.values_[j];
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// return result;
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//}
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//// TODO: linear algebra interface seems to have been added for SPCG.
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//friend void axpy(double alpha, const VectorValues& x, VectorValues& y) {
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// if(x.size() != y.size())
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// throw std::invalid_argument("axpy(VectorValues) called with different vector sizes");
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// for(Key j = 0; j < x.size(); ++j)
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// if(x.values_[j].size() == y.values_[j].size())
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// y.values_[j] += alpha * x.values_[j];
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// else
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// throw std::invalid_argument("axpy(VectorValues) called with different vector sizes");
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//}
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//// TODO: linear algebra interface seems to have been added for SPCG.
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//friend void sqrt(VectorValues &x) {
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// for(Key j = 0; j < x.size(); ++j)
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// x.values_[j] = x.values_[j].cwiseSqrt();
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//}
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//// TODO: linear algebra interface seems to have been added for SPCG.
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//friend void ediv(const VectorValues& numerator, const VectorValues& denominator, VectorValues &result) {
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// if(numerator.size() != denominator.size() || numerator.size() != result.size())
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// throw std::invalid_argument("ediv(VectorValues) called with different vector sizes");
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// for(Key j = 0; j < numerator.size(); ++j)
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// if(numerator.values_[j].size() == denominator.values_[j].size() && numerator.values_[j].size() == result.values_[j].size())
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// result.values_[j] = numerator.values_[j].cwiseQuotient(denominator.values_[j]);
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// else
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// throw std::invalid_argument("ediv(VectorValues) called with different vector sizes");
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//}
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//// TODO: linear algebra interface seems to have been added for SPCG.
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//friend void edivInPlace(VectorValues& x, const VectorValues& y) {
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// if(x.size() != y.size())
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// throw std::invalid_argument("edivInPlace(VectorValues) called with different vector sizes");
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// for(Key j = 0; j < x.size(); ++j)
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// if(x.values_[j].size() == y.values_[j].size())
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// x.values_[j].array() /= y.values_[j].array();
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// else
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// throw std::invalid_argument("edivInPlace(VectorValues) called with different vector sizes");
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//}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar & BOOST_SERIALIZATION_NVP(values_);
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}
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}; // VectorValues definition
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/// traits
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template<>
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struct traits<VectorValues> : public Testable<VectorValues> {
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};
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} // \namespace gtsam
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