60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
/*
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* IndexTable.h
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*
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* Created on: Jan 21, 2010
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* @Author: Frank Dellaert
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*/
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#pragma once
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#include <map>
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#include <boost/foreach.hpp> // TODO should not be in header
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#include <gtsam/base/Testable.h>
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namespace gtsam {
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/**
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* An IndexTable maps from key to size_t index and back
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* most commonly used templated on Symbol with orderings
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*/
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template<class Key>
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class IndexTable: public std::vector<Key>, public Testable<IndexTable<Key> > {
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private:
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/* map back from key to size_t */
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typedef typename std::map<Key, size_t> Map;
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Map key2index_;
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public:
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/* bake ordering into IndexTable */
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IndexTable(const std::list<Key>& ordering) {
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size_t i = 0;
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BOOST_FOREACH(const Key& key,ordering){
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this->push_back(key);
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key2index_.insert(make_pair(key,i++));
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}
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}
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// Testable
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virtual void print(const std::string& s="") const {
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std::cout << "IndexTable " << s << ":";
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BOOST_FOREACH(Key key,*this) std::cout << (std::string)key << " ";
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}
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virtual bool equals(const IndexTable<Key>& expected, double tol) const {
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return key2index_==expected.key2index_; // TODO, sanity check
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}
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/** Key to index by parentheses ! */
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size_t operator()(const Key& key) const {
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typename Map::const_iterator it = key2index_.find(key);
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if (it==key2index_.end())
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throw(std::invalid_argument("IndexTable::[] invalid key"));
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return it->second;
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}
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/* Index to Key is provided by base class operator[] */
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};
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}
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