68 lines
2.0 KiB
C++
68 lines
2.0 KiB
C++
/**
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* @file VectorConfig.cpp
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* @brief Pose2Graph Configuration
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* @author Frank Dellaert
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*/
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#include <boost/foreach.hpp>
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#include "VectorConfig.h"
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#include "Pose2Config.h"
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// trick from some reading group
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#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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const Pose2& Pose2Config::get(std::string key) const {
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std::map<std::string, Pose2>::const_iterator it = values_.find(key);
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if (it == values_.end()) throw std::invalid_argument("invalid key");
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return it->second;
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}
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/* ************************************************************************* */
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void Pose2Config::insert(const std::string& name, const Pose2& val) {
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values_.insert(make_pair(name, val));
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}
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/* ************************************************************************* */
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bool Pose2Config::equals(const Pose2Config& expected, double tol) const {
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if (values_.size() != expected.values_.size()) return false;
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// iterate over all nodes
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string j;
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Pose2 pj;
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FOREACH_PAIR(j, pj, values_)
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if(!pj.equals(expected.get(j),tol))
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return false;
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return true;
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}
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/* ************************************************************************* */
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void Pose2Config::print(const std::string &s) const {
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std::cout << "Pose2Config " << s << ", size " << values_.size() << "\n";
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std::string j; Pose2 pj;
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FOREACH_PAIR(j, pj, values_)
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pj.print(j + ": ");
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}
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/* ************************************************************************* */
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Pose2Config Pose2Config::exmap(const VectorConfig& delta) const {
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Pose2Config newConfig;
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std::string j; Pose2 pj;
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FOREACH_PAIR(j, pj, values_) {
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if (delta.contains(j)) {
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const Vector& dj = delta[j];
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//check_size(j,vj,dj);
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newConfig.insert(j, pj.exmap(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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/* ************************************************************************* */
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} // namespace
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