106 lines
2.9 KiB
C++
106 lines
2.9 KiB
C++
/*
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* LieConfig.cpp
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*
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* Created on: Jan 8, 2010
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* Author: richard
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*/
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#include "LieConfig.h"
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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#include <utility>
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#include <iostream>
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#include <stdexcept>
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#include "VectorConfig.h"
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using namespace std;
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namespace gtsam {
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template<class J, class T>
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void LieConfig<J,T>::print(const string &s) const {
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cout << "LieConfig " << s << ", size " << values_.size() << "\n";
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BOOST_FOREACH(const typename Values::value_type& v, values_)
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gtsam::print(v.second, (string)(v.first));
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}
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template<class J, class T>
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bool LieConfig<J,T>::equals(const LieConfig<J,T>& expected, double tol) const {
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if (values_.size() != expected.values_.size()) return false;
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BOOST_FOREACH(const typename Values::value_type& v, values_) {
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if (!exists(v.first)) return false;
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if(!gtsam::equal(v.second, expected[v.first], tol))
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return false;
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}
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return true;
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}
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template<class J, class T>
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const T& LieConfig<J,T>::at(const J& j) const {
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const_iterator it = values_.find(j);
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if (it == values_.end()) throw std::invalid_argument("invalid j: " + (string)j);
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else return it->second;
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}
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template<class J, class T>
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void LieConfig<J,T>::insert(const J& name, const T& val) {
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values_.insert(make_pair(name, val));
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dim_ += dim(val);
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}
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template<class J, class T>
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void LieConfig<J,T>::erase(const J& j) {
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size_t dim; // unused
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erase(j, dim);
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}
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template<class J, class T>
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void LieConfig<J,T>::erase(const J& j, size_t& dim) {
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iterator it = values_.find(j);
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if (it == values_.end()) throw std::invalid_argument("invalid j: " + (string)j);
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dim = gtsam::dim(it->second);
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dim_ -= dim;
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values_.erase(it);
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}
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// todo: insert for every element is inefficient
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template<class J, class T>
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LieConfig<J,T> expmap(const LieConfig<J,T>& c, const VectorConfig& delta) {
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LieConfig<J,T> newConfig;
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typedef pair<J,T> Value;
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BOOST_FOREACH(const Value& value, c) {
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const J& j = value.first;
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const T& pj = value.second;
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string jstr = (string)j;
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if (delta.contains(jstr)) {
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const Vector& dj = delta[jstr];
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newConfig.insert(j, expmap(pj,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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// todo: insert for every element is inefficient
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template<class J, class T>
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LieConfig<J,T> expmap(const LieConfig<J,T>& c, const Vector& delta) {
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if(delta.size() != dim(c))
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throw invalid_argument("Delta vector length does not match config dimensionality.");
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LieConfig<J,T> newConfig;
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int delta_offset = 0;
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typedef pair<J,T> Value;
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BOOST_FOREACH(const Value& value, c) {
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const J& j = value.first;
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const T& pj = value.second;
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int cur_dim = dim(pj);
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newConfig.insert(j,expmap(pj,sub(delta, delta_offset, delta_offset+cur_dim)));
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delta_offset += cur_dim;
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}
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return newConfig;
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}
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}
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