154 lines
4.2 KiB
C++
154 lines
4.2 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 types.h
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* @brief Typedefs for easier changing of types
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* @author Richard Roberts
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* @date Aug 21, 2010
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* @addtogroup base
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*/
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#pragma once
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#include <gtsam/dllexport.h>
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#include <cstddef>
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#include <string>
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#include <boost/function/function1.hpp>
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namespace gtsam {
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/// Integer variable index type
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typedef size_t Index;
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/** A function to convert indices to strings, for example by translating back
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* to a nonlinear key and then to a Symbol. */
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typedef boost::function<std::string(Index)> IndexFormatter;
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GTSAM_EXPORT std::string _defaultIndexFormatter(Index j);
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/** The default IndexFormatter outputs the index */
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static const IndexFormatter DefaultIndexFormatter = &_defaultIndexFormatter;
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/// Integer nonlinear key type
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typedef size_t Key;
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/// Typedef for a function to format a key, i.e. to convert it to a string
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typedef boost::function<std::string(Key)> KeyFormatter;
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// Helper function for DefaultKeyFormatter
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GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
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/// The default KeyFormatter, which is used if no KeyFormatter is passed to
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/// a nonlinear 'print' function. Automatically detects plain integer keys
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/// and Symbol keys.
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static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
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/// The index type for Eigen objects
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typedef ptrdiff_t DenseIndex;
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/**
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* Helper class that uses templates to select between two types based on
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* whether TEST_TYPE is const or not.
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*/
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template<typename TEST_TYPE, typename BASIC_TYPE, typename AS_NON_CONST,
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typename AS_CONST>
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struct const_selector {
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};
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/** Specialization for the non-const version */
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template<typename BASIC_TYPE, typename AS_NON_CONST, typename AS_CONST>
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struct const_selector<BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST> {
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typedef AS_NON_CONST type;
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};
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/** Specialization for the const version */
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template<typename BASIC_TYPE, typename AS_NON_CONST, typename AS_CONST>
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struct const_selector<const BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST> {
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typedef AS_CONST type;
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};
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/**
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* Helper struct that encapsulates a value with a default, this is just used
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* as a member object so you don't have to specify defaults in the class
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* constructor.
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*/
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template<typename T, T defaultValue>
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struct ValueWithDefault {
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T value;
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/** Default constructor, initialize to default value supplied in template argument */
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ValueWithDefault() : value(defaultValue) {}
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/** Initialize to the given value */
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ValueWithDefault(const T& _value) : value(_value) {}
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/** Operator to access the value */
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T& operator*() { return value; }
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/** Implicit conversion allows use in if statements for bool type, etc. */
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operator T() const { return value; }
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};
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/** An assertion that throws an exception if NDEBUG is not defined and
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* evaluates to an empty statement otherwise. */
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#ifdef NDEBUG
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#define assert_throw(CONDITION, EXCEPTION) ((void)0)
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#else
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#define assert_throw(CONDITION, EXCEPTION) \
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if(!(CONDITION)) { \
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throw (EXCEPTION); \
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}
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#endif
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}
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#ifdef _MSC_VER
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// Define some common g++ functions and macros we use that MSVC does not have
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#include <boost/math/special_functions/fpclassify.hpp>
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namespace std {
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template<typename T> inline int isfinite(T a) {
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return (int)boost::math::isfinite(a); }
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template<typename T> inline int isnan(T a) {
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return (int)boost::math::isnan(a); }
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template<typename T> inline int isinf(T a) {
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return (int)boost::math::isinf(a); }
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}
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#include <boost/math/constants/constants.hpp>
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#ifndef M_PI
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#define M_PI (boost::math::constants::pi<double>())
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#endif
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#ifndef M_PI_2
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#define M_PI_2 (boost::math::constants::pi<double>() / 2.0)
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#endif
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#ifndef M_PI_4
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#define M_PI_4 (boost::math::constants::pi<double>() / 4.0)
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#endif
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#endif
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#ifdef min
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#undef min
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#endif
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#ifdef max
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#undef max
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#endif
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