92 lines
3.1 KiB
C++
92 lines
3.1 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 Key.h
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* @brief
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* @author Richard Roberts
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* @date Feb 20, 2012
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*/
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#pragma once
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#include <gtsam/base/FastList.h>
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#include <gtsam/base/FastMap.h>
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#include <gtsam/base/FastSet.h>
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#include <gtsam/base/FastVector.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/types.h>
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#include <gtsam/dllexport.h>
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#include <boost/function.hpp>
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namespace gtsam {
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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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// Helper function for Multi-robot Key Formatter
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GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);
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///
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/// A KeyFormatter that will check for LabeledSymbol keys, as well as Symbol and plain
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/// integer keys. This keyformatter will need to be passed in to override the default
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/// formatter in print functions.
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///
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/// Checks for LabeledSymbol, Symbol and then plain keys, in order.
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static const gtsam::KeyFormatter MultiRobotKeyFormatter =
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&_multirobotKeyFormatter;
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/// Useful typedef for operations with Values - allows for matlab interface
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typedef FastVector<Key> KeyVector;
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// TODO(frank): Nothing fast about these :-(
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typedef FastList<Key> KeyList;
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typedef FastSet<Key> KeySet;
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typedef FastMap<Key, int> KeyGroupMap;
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/// Utility function to print one key with optional prefix
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GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter);
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/// Utility function to print sets of keys with optional prefix
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GTSAM_EXPORT void PrintKeyList(const KeyList& keys, const std::string& s = "",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter);
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/// Utility function to print sets of keys with optional prefix
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GTSAM_EXPORT void PrintKeyVector(const KeyVector& keys, const std::string& s =
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"", const KeyFormatter& keyFormatter = DefaultKeyFormatter);
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/// Utility function to print sets of keys with optional prefix
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GTSAM_EXPORT void PrintKeySet(const KeySet& keys, const std::string& s = "",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter);
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// Define Key to be Testable by specializing gtsam::traits
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template<typename T> struct traits;
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template<> struct traits<Key> {
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static void Print(const Key& key, const std::string& str = "") {
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PrintKey(key, str);
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}
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static bool Equals(const Key& key1, const Key& key2, double tol = 1e-8) {
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return key1 == key2;
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}
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};
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} // namespace gtsam
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