484 lines
17 KiB
C++
484 lines
17 KiB
C++
/*
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* TupleConfig.h
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*
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* Created on: Jan 13, 2010
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* Author: Richard Roberts and Manohar Paluri
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*/
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#include "LieConfig.h"
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#include "VectorConfig.h"
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#pragma once
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namespace gtsam {
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/**
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* Tuple configs to handle subconfigs of LieConfigs
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*
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* This uses a recursive structure of config pairs to form a lisp-like
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* list, with a special case (TupleConfigEnd) that contains only one config
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* at the end. In a final use case, this should be aliased to something clearer
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* but still with the same recursive type machinery.
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*/
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template<class Config1, class Config2>
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class TupleConfig : public Testable<TupleConfig<Config1, Config2> > {
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protected:
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// Data for internal configs
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Config1 first_;
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Config2 second_;
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public:
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// typedefs
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typedef class Config1::Key Key1;
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typedef class Config1::Value Value1;
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/** default constructor */
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TupleConfig() {}
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/** Copy constructor */
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TupleConfig(const TupleConfig<Config1, Config2>& config) :
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first_(config.first_), second_(config.second_) {}
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/** Construct from configs */
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TupleConfig(const Config1& cfg1, const Config2& cfg2) :
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first_(cfg1), second_(cfg2) {}
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virtual ~TupleConfig() {}
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/** Print */
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void print(const std::string& s = "") const;
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/** Test for equality in keys and values */
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bool equals(const TupleConfig<Config1, Config2>& c, double tol=1e-9) const {
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return first_.equals(c.first_, tol) && second_.equals(c.second_, tol);
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}
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// insert function that uses the second (recursive) config
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template<class Key, class Value>
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void insert(const Key& key, const Value& value) {second_.insert(key, value);}
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void insert(const Key1& key, const Value1& value) {first_.insert(key, value);}
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// erase an element by key
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template<class Key>
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void erase(const Key& j) { second_.erase(j); }
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void erase(const Key1& j) { first_.erase(j); }
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// determine whether an element exists
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template<class Key>
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bool exists(const Key& j) const { return second_.exists(j); }
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bool exists(const Key1& j) const { return first_.exists(j); }
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// access operator
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template<class Key>
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const typename Key::Value_t & operator[](const Key& j) const { return second_[j]; }
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const Value1& operator[](const Key1& j) const { return first_[j]; }
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// at access function
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template<class Key>
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const typename Key::Value_t & at(const Key& j) const { return second_.at(j); }
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const Value1& at(const Key1& j) const { return first_.at(j); }
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// direct config access
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const Config1& config() const { return first_; }
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const Config2& rest() const { return second_; }
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// size function - adds recursively
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size_t size() const { return first_.size() + second_.size(); }
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// dim function
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size_t dim() const { return first_.dim() + second_.dim(); }
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// Expmap
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TupleConfig<Config1, Config2> expmap(const VectorConfig& delta) const {
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return TupleConfig(gtsam::expmap(first_, delta), second_.expmap(delta));
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}
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/** logmap each element */
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VectorConfig logmap(const TupleConfig<Config1, Config2>& cp) const {
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VectorConfig ret(gtsam::logmap(first_, cp.first_));
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ret.insert(second_.logmap(cp.second_));
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return ret;
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}
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};
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/**
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* End of a recursive TupleConfig - contains only one config
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*
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* This should not be used directly
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*/
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template<class Config>
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class TupleConfigEnd : public Testable<TupleConfigEnd<Config> > {
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protected:
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// Data for internal configs
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Config first_;
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public:
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// typedefs
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typedef class Config::Key Key1;
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typedef class Config::Value Value1;
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TupleConfigEnd() {}
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TupleConfigEnd(const TupleConfigEnd<Config>& config) :
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first_(config.first_) {}
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TupleConfigEnd(const Config& cfg) :
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first_(cfg) {}
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virtual ~TupleConfigEnd() {}
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/** Print */
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void print(const std::string& s = "") const;
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/** Test for equality in keys and values */
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bool equals(const TupleConfigEnd<Config>& c, double tol=1e-9) const {
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return first_.equals(c.first_, tol);
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}
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void insert(const Key1& key, const Value1& value) {first_.insert(key, value); }
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const Value1& operator[](const Key1& j) const { return first_[j]; }
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const Config& config() const { return first_; }
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void erase(const Key1& j) { first_.erase(j); }
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bool exists(const Key1& j) const { return first_.exists(j); }
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const Value1& at(const Key1& j) const { return first_.at(j); }
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size_t size() const { return first_.size(); }
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size_t dim() const { return first_.dim(); }
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TupleConfigEnd<Config> expmap(const VectorConfig& delta) const {
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return TupleConfigEnd(gtsam::expmap(first_, delta));
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}
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VectorConfig logmap(const TupleConfigEnd<Config>& cp) const {
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VectorConfig ret(gtsam::logmap(first_, cp.first_));
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return ret;
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}
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};
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/** Exmap static functions */
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template<class Config1, class Config2>
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inline TupleConfig<Config1, Config2> expmap(const TupleConfig<Config1, Config2> c, const VectorConfig& delta) {
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return c.expmap(delta);
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}
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template<class Config>
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inline TupleConfigEnd<Config> expmap(const TupleConfigEnd<Config> c, const VectorConfig& delta) {
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return c.expmap(delta);
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}
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/** logmap static functions */
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template<class Config1, class Config2>
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inline VectorConfig logmap(const TupleConfig<Config1, Config2> c0, const TupleConfig<Config1, Config2>& cp) {
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return c0.logmap(cp);
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}
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template<class Config>
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inline VectorConfig logmap(const TupleConfigEnd<Config> c0, const TupleConfigEnd<Config>& cp) {
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return c0.logmap(cp);
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}
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/**
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* Wrapper classes to act as containers for configs. Note that these can be cascaded
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* recursively, as they are TupleConfigs, and are primarily a short form of the config
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* structure to make use of the TupleConfigs easier.
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*
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* The interface is designed to mimic PairConfig, but for 2-6 config types.
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*/
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template<class Config1, class Config2>
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class TupleConfig2 : public TupleConfig<Config1, TupleConfigEnd<Config2> > {
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public:
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// typedefs
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typedef Config1 Config1_t;
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typedef Config2 Config2_t;
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typedef TupleConfig<Config1, TupleConfigEnd<Config2> > Base;
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typedef TupleConfig2<Config1, Config2> This;
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TupleConfig2() {}
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TupleConfig2(const This& config);
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TupleConfig2(const Base& config);
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TupleConfig2(const Config1& cfg1, const Config2& cfg2);
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// access functions
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inline const Config1_t& first() const { return this->config(); }
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inline const Config2_t& second() const { return this->rest().config(); }
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};
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template<class Config1, class Config2>
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TupleConfig2<Config1, Config2> expmap(const TupleConfig2<Config1, Config2> c, const VectorConfig& delta) {
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return c.expmap(delta);
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}
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template<class Config1, class Config2, class Config3>
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class TupleConfig3 : public TupleConfig<Config1, TupleConfig<Config2, TupleConfigEnd<Config3> > > {
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public:
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// typedefs
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typedef Config1 Config1_t;
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typedef Config2 Config2_t;
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typedef Config3 Config3_t;
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TupleConfig3() {}
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TupleConfig3(const TupleConfig<Config1, TupleConfig<Config2, TupleConfigEnd<Config3> > >& config);
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TupleConfig3(const TupleConfig3<Config1, Config2, Config3>& config);
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TupleConfig3(const Config1& cfg1, const Config2& cfg2, const Config3& cfg3);
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// access functions
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inline const Config1_t& first() const { return this->config(); }
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inline const Config2_t& second() const { return this->rest().config(); }
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inline const Config3_t& third() const { return this->rest().rest().config(); }
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};
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template<class Config1, class Config2, class Config3>
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TupleConfig3<Config1, Config2, Config3> expmap(const TupleConfig3<Config1, Config2, Config3> c, const VectorConfig& delta) {
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return c.expmap(delta);
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}
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template<class Config1, class Config2, class Config3, class Config4>
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class TupleConfig4 : public TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > > {
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public:
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// typedefs
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typedef Config1 Config1_t;
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typedef Config2 Config2_t;
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typedef Config3 Config3_t;
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typedef Config4 Config4_t;
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typedef TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > > Base;
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typedef TupleConfig4<Config1, Config2, Config3, Config4> This;
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TupleConfig4() {}
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TupleConfig4(const This& config);
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TupleConfig4(const Base& config);
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TupleConfig4(const Config1& cfg1, const Config2& cfg2, const Config3& cfg3,const Config4& cfg4);
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// access functions
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inline const Config1_t& first() const { return this->config(); }
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inline const Config2_t& second() const { return this->rest().config(); }
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inline const Config3_t& third() const { return this->rest().rest().config(); }
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inline const Config4_t& fourth() const { return this->rest().rest().rest().config(); }
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};
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template<class Config1, class Config2, class Config3, class Config4>
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TupleConfig4<Config1, Config2, Config3, Config4> expmap(const TupleConfig4<Config1, Config2, Config3, Config4> c, const VectorConfig& delta) {
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return c.expmap(delta);
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}
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template<class Config1, class Config2, class Config3, class Config4, class Config5>
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class TupleConfig5 : public TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfigEnd<Config5> > > > > {
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public:
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// typedefs
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typedef Config1 Config1_t;
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typedef Config2 Config2_t;
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typedef Config3 Config3_t;
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typedef Config4 Config4_t;
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typedef Config5 Config5_t;
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TupleConfig5() {}
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TupleConfig5(const TupleConfig5<Config1, Config2, Config3, Config4, Config5>& config);
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TupleConfig5(const TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfigEnd<Config5> > > > >& config);
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TupleConfig5(const Config1& cfg1, const Config2& cfg2, const Config3& cfg3,
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const Config4& cfg4, const Config5& cfg5);
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// access functions
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inline const Config1_t& first() const { return this->config(); }
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inline const Config2_t& second() const { return this->rest().config(); }
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inline const Config3_t& third() const { return this->rest().rest().config(); }
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inline const Config4_t& fourth() const { return this->rest().rest().rest().config(); }
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inline const Config5_t& fifth() const { return this->rest().rest().rest().rest().config(); }
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};
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template<class Config1, class Config2, class Config3, class Config4, class Config5>
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TupleConfig5<Config1, Config2, Config3, Config4, Config5> expmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5> c, const VectorConfig& delta) {
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return c.expmap(delta);
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}
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template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
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class TupleConfig6 : public TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfig<Config5, TupleConfigEnd<Config6> > > > > > {
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public:
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// typedefs
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typedef Config1 Config1_t;
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typedef Config2 Config2_t;
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typedef Config3 Config3_t;
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typedef Config4 Config4_t;
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typedef Config5 Config5_t;
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typedef Config6 Config6_t;
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TupleConfig6() {}
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TupleConfig6(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>& config);
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TupleConfig6(const TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfig<Config5, TupleConfigEnd<Config6> > > > > >& config);
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TupleConfig6(const Config1& cfg1, const Config2& cfg2, const Config3& cfg3,
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const Config4& cfg4, const Config5& cfg5, const Config6& cfg6);
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// access functions
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inline const Config1_t& first() const { return this->config(); }
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inline const Config2_t& second() const { return this->rest().config(); }
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inline const Config3_t& third() const { return this->rest().rest().config(); }
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inline const Config4_t& fourth() const { return this->rest().rest().rest().config(); }
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inline const Config5_t& fifth() const { return this->rest().rest().rest().rest().config(); }
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inline const Config6_t& sixth() const { return this->rest().rest().rest().rest().rest().config(); }
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};
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template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
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TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> expmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> c, const VectorConfig& delta) {
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return c.expmap(delta);
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}
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/**
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* PairConfig: an alias for a pair of configs using TupleConfig2
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* STILL IN TESTING - will soon replace PairConfig
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*/
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// template<class J1, class X1, class J2, class X2>
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// class PairConfig : public TupleConfig2<LieConfig<J1, X1>, LieConfig<J2, X2> > {
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// public:
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// PairConfig() {}
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// PairConfig(const PairConfig<J1, X1, J2, X2>& config) :
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// TupleConfig2<LieConfig<J1, X1>, LieConfig<J2, X2> >(config) {}
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// PairConfig(const LieConfig<J1, X1>& cfg1,const LieConfig<J2, X2>& cfg2) :
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// TupleConfig2<LieConfig<J1, X1>, LieConfig<J2, X2> >(cfg1, cfg2) {}
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// };
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/**
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* PairConfig: a config that holds two data types.
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* Note: this should eventually be replaced with a wrapper on TupleConfig2
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*/
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template<class J1, class X1, class J2, class X2>
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class PairConfig : public Testable<PairConfig<J1, X1, J2, X2> > {
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public:
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// publicly available types
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typedef LieConfig<J1, X1> Config1;
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typedef LieConfig<J2, X2> Config2;
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protected:
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// Two configs in the pair as in std:pair
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LieConfig<J1, X1> first_;
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LieConfig<J2, X2> second_;
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private:
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size_t size_;
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size_t dim_;
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PairConfig(const LieConfig<J1,X1>& config1, const LieConfig<J2,X2>& config2) :
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first_(config1), second_(config2),
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size_(config1.size()+config2.size()), dim_(gtsam::dim(config1)+gtsam::dim(config2)) {}
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public:
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/**
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* Default constructor creates an empty config.
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*/
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PairConfig(): size_(0), dim_(0) {}
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/**
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* Copy constructor
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*/
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PairConfig(const PairConfig<J1, X1, J2, X2>& c):
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first_(c.first_), second_(c.second_), size_(c.size_), dim_(c.dim_) {}
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/**
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* Print
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*/
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void print(const std::string& s = "") const;
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/**
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* Test for equality in keys and values
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*/
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bool equals(const PairConfig<J1, X1, J2, X2>& c, double tol=1e-9) const {
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return first_.equals(c.first_, tol) && second_.equals(c.second_, tol); }
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/** Returns the real config */
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inline const Config1& first() const { return first_; }
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inline const Config2& second() const { return second_; }
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/**
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* operator[] syntax to get a value by j, throws invalid_argument if
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* value with specified j is not present. Will generate compile-time
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* errors if j type does not match that on which the Config is templated.
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*/
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const X1& operator[](const J1& j) const { return first_[j]; }
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const X2& operator[](const J2& j) const { return second_[j]; }
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/**
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* size is the total number of variables in this config.
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*/
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size_t size() const { return size_; }
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/**
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* dim is the dimensionality of the tangent space
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*/
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size_t dim() const { return dim_; }
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private:
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template<class Config, class Key, class Value>
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void insert_helper(Config& config, const Key& j, const Value& value) {
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config.insert(j, value);
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size_ ++;
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dim_ += gtsam::dim(value);
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}
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template<class Config, class Key>
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void erase_helper(Config& config, const Key& j) {
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size_t dim;
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config.erase(j, dim);
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dim_ -= dim;
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size_ --;
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}
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public:
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/**
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* expmap each element
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*/
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PairConfig<J1,X1,J2,X2> expmap(const VectorConfig& delta) const {
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return PairConfig(gtsam::expmap(first_, delta), gtsam::expmap(second_, delta)); }
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/**
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* logmap each element
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*/
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VectorConfig logmap(const PairConfig<J1,X1,J2,X2>& cp) const {
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VectorConfig ret(gtsam::logmap(first_, cp.first_));
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ret.insert(gtsam::logmap(second_, cp.second_));
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return ret;
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}
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/**
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* Insert a variable with the given j
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*/
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void insert(const J1& j, const X1& value) { insert_helper(first_, j, value); }
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void insert(const J2& j, const X2& value) { insert_helper(second_, j, value); }
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void insert(const PairConfig& config);
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/**
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* Remove the variable with the given j. Throws invalid_argument if the
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* j is not present in the config.
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*/
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void erase(const J1& j) { erase_helper(first_, j); }
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void erase(const J2& j) { erase_helper(second_, j); }
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/**
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* Check if a variable exists
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*/
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bool exists(const J1& j) const { return first_.exists(j); }
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bool exists(const J2& j) const { return second_.exists(j); }
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};
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template<class J1, class X1, class J2, class X2>
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inline PairConfig<J1,X1,J2,X2> expmap(const PairConfig<J1,X1,J2,X2> c, const VectorConfig& delta) { return c.expmap(delta); }
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template<class J1, class X1, class J2, class X2>
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inline VectorConfig logmap(const PairConfig<J1,X1,J2,X2> c0, const PairConfig<J1,X1,J2,X2>& cp) { return c0.logmap(cp); }
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}
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