68 lines
1.7 KiB
C++
68 lines
1.7 KiB
C++
/*
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* LieConfig.cpp
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*
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* Created on: Jan 8, 2010
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* Author: richard
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*/
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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#include "LieConfig.h"
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using namespace std;
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#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
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namespace gtsam {
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template<class T>
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void LieConfig<T>::print(const string &s) const {
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cout << "LieConfig " << s << ", size " << values_.size() << "\n";
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pair<string, T> v;
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BOOST_FOREACH(v, values_)
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gtsam::print(v.second, v.first + ": ");
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}
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template<class T>
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bool LieConfig<T>::equals(const LieConfig<T>& expected, double tol) const {
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if (values_.size() != expected.values_.size()) return false;
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pair<string, T> v;
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BOOST_FOREACH(v, values_) {
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boost::optional<const T&> expval = expected.gettry(v.first);
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if(!expval || !gtsam::equal(v.second, *expval, tol))
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return false;
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}
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return true;
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}
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template<class T>
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LieConfig<T> expmap(const LieConfig<T>& c, const VectorConfig& delta) {
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LieConfig<T> newConfig;
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string j; T pj;
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FOREACH_PAIR(j, pj, c) {
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if (delta.contains(j)) {
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const Vector& dj = delta[j];
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newConfig.insert(j, expmap(pj,dj));
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} else
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newConfig.insert(j, pj);
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}
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return newConfig;
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}
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// This version just creates a VectorConfig then calls function above
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template<class T>
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LieConfig<T> expmap(const LieConfig<T>& c, const Vector& delta) {
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VectorConfig deltaConfig;
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int delta_offset = 0;
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string j; T pj;
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FOREACH_PAIR(j, pj, c) {
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int cur_dim = dim(pj);
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Vector dj = sub(delta, delta_offset, delta_offset+cur_dim);
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deltaConfig.insert(j,dj);
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delta_offset += cur_dim;
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}
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return expmap(c,deltaConfig);
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}
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}
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