105 lines
4.1 KiB
C++
105 lines
4.1 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 DynamicValues.h
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* @author Richard Roberts
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*
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* @brief A non-templated config holding any types of Manifold-group elements
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*
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* Detailed story:
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* A values structure is a map from keys to values. It is used to specify the value of a bunch
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* of variables in a factor graph. A Values is a values structure which can hold variables that
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* are elements on manifolds, not just vectors. It then, as a whole, implements a aggregate type
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* which is also a manifold element, and hence supports operations dim, retract, and localCoordinates.
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*/
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#include <gtsam/nonlinear/DynamicValues.h>
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#include <boost/foreach.hpp>
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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DynamicValues::DynamicValues(const DynamicValues& other) {
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}
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/* ************************************************************************* */
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void DynamicValues::print(const string& str) const {
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cout << str << "DynamicValues with " << size() << " values:\n" << endl;
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BOOST_FOREACH(const KeyValueMap::value_type& key_value, values_) {
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cout << " " << (string)key_value.first << ": ";
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key_value.second->print("");
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}
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}
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/* ************************************************************************* */
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bool DynamicValues::equals(const DynamicValues& other, double tol) const {
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if(this->size() != other.size())
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return false;
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for(const_iterator it1=this->begin(), it2=other.begin(); it1!=this->end(); ++it1, ++it2) {
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if(typeid(*it1->second) != typeid(*it2->second))
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return false;
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if(it1->first != it2->first)
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return false;
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if(!it1->second->equals_(*it2->second, tol))
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return false;
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}
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return true; // We return false earlier if we find anything that does not match
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}
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/* ************************************************************************* */
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bool DynamicValues::exists(const Symbol& j) const {
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return values_.find(j) != values_.end();
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}
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/* ************************************************************************* */
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VectorValues DynamicValues::zeroVectors(const Ordering& ordering) const {
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return VectorValues::Zero(this->dims(ordering));
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}
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/* ************************************************************************* */
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DynamicValues DynamicValues::retract(const VectorValues& delta, const Ordering& ordering) const {
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DynamicValues result;
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BOOST_FOREACH(const KeyValuePair& key_value, values_) {
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const SubVector& singleDelta = delta[ordering[key_value.first]]; // Delta for this value
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const std::auto_ptr<const Value> retractedValue = key_value.second->retract_(singleDelta); // Retract
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result.values_.insert(make_pair(key_value.first, retractedValue)); // Add retracted result directly to result values
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}
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return result;
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}
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/* ************************************************************************* */
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VectorValues DynamicValues::localCoordinates(const DynamicValues& cp, const Ordering& ordering) const {
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VectorValues result(this->dims(ordering));
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localCoordinates(cp, ordering, result);
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return result;
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}
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/* ************************************************************************* */
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void DynamicValues::localCoordinates(const DynamicValues& cp, const Ordering& ordering, VectorValues& result) const {
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if(this->size() != cp.size())
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throw DynamicValuesMismatched();
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for(const_iterator it1=this->begin(), it2=other.begin(); it1!=this->end(); ++it1, ++it2) {
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if(it1->first != it2->first)
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throw DynamicValuesMismatched(); // If keys do not match
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result[ordering[it1->first]] = it1->second->localCoordinates_(*it2->second); // Will throw a dynamic_cast exception if types do not match
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}
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}
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}
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