64 lines
1.8 KiB
C++
64 lines
1.8 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 Scatter.h
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* @brief Maps global variable indices to slot indices
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* @author Richard Roberts
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* @author Frank Dellaert
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* @date June 2015
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*/
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#pragma once
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#include <gtsam/inference/Key.h>
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#include <gtsam/base/FastMap.h>
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#include <gtsam/dllexport.h>
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#include <boost/optional.hpp>
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namespace gtsam {
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class GaussianFactorGraph;
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class Ordering;
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/// One SlotEntry stores the slot index for a variable, as well its dim.
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struct GTSAM_EXPORT SlotEntry {
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Key key;
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size_t dimension;
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SlotEntry(Key _key, size_t _dimension) : key(_key), dimension(_dimension) {}
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std::string toString() const;
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friend bool operator<(const SlotEntry& p, const SlotEntry& q) {
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return p.key < q.key;
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}
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static bool Zero(const SlotEntry& p) { return p.dimension==0;}
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};
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/**
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* Scatter is an intermediate data structure used when building a HessianFactor
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* incrementally, to get the keys in the right order. In spirit, it is a map
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* from global variable indices to slot indices in the union of involved
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* variables. We also include the dimensionality of the variable.
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*/
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class Scatter : public FastVector<SlotEntry> {
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public:
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/// Constructor
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Scatter(const GaussianFactorGraph& gfg,
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boost::optional<const Ordering&> ordering = boost::none);
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private:
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/// Find the SlotEntry with the right key (linear time worst case)
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iterator find(Key key);
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};
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} // \ namespace gtsam
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