67 lines
1.3 KiB
C++
67 lines
1.3 KiB
C++
/**
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* @file Ordering.h
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* @brief Ordering of indices for eliminating a factor graph
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* @author Frank Dellaert
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*/
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#pragma once
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#include <list>
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#include <string>
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#include <map>
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#include "Testable.h"
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#include "graph.h"
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namespace gtsam {
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/**
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* @class Ordering
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* @brief ordering of indices for eliminating a factor graph
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*/
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class Ordering: public std::list<std::string>, public Testable<Ordering> {
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public:
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/**
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* Default constructor creates empty ordering
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*/
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Ordering() {
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}
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/**
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* Create from a single string
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*/
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Ordering(std::string key) {
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push_back(key);
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}
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/**
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* Copy constructor from string vector
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*/
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Ordering(const std::list<std::string>& strings_in) :
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std::list<std::string>(strings_in) {
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}
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/**
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* Generate the ordering from a spanning tree represented by its parent map
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*/
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Ordering(const PredecessorMap<std::string>& p_map);
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/**
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* Remove a set of keys from an ordering
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* @param keys to remove
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* @return a new ordering without the selected keys
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*/
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Ordering subtract(const Ordering& keys) const;
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void print(const std::string& s = "Ordering") const;
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/**
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* check if two orderings are the same
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* @param ordering
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* @return bool
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*/
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bool equals(const Ordering &ord, double tol=0) const;
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};
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}
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