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