49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
/*
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* Ordering-inl.h
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*
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* Created on: Jan 14, 2010
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* Author: nikai
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* Description: the inline file for Ordering
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*/
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#pragma once
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#include "graph-inl.h"
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#include "Ordering.h"
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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template <class Key>
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class ordering_key_visitor : public boost::default_bfs_visitor {
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public:
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ordering_key_visitor(std::list<Key>& ordering_in) : ordering_(ordering_in) {}
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template <typename Vertex, typename Graph> void discover_vertex(Vertex v, const Graph& g) const {
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Key key = boost::get(boost::vertex_name, g, v);
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ordering_.push_front(key);
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}
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std::list<Key>& ordering_;
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};
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/* ************************************************************************* */
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template<class Key>
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list<Key> predecessorMap2Keys(const PredecessorMap<Key>& p_map) {
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typedef typename SGraph<Key>::Vertex SVertex;
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SGraph<Key> g;
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SVertex root;
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std::map<Key, SVertex> key2vertex;
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boost::tie(g, root, key2vertex) = gtsam::predecessorMap2Graph<SGraph<Key>, SVertex, Key>(p_map);
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// breadth first visit on the graph
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std::list<Key> keys;
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ordering_key_visitor<Key> vis(keys);
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boost::breadth_first_search(g, root, boost::visitor(vis));
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return keys;
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}
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}
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