Values.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/base/GenericValue.h>
#include <gtsam/base/VectorSpace.h>
#include <gtsam/inference/Key.h>
#include <boost/iterator/transform_iterator.hpp>
#include <boost/iterator/filter_iterator.hpp>
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
#pragma GCC diagnostic ignored "-Wunused-local-typedefs"
#endif
#include <boost/bind.hpp>
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif
#include <boost/ptr_container/serialize_ptr_map.hpp>
#include <boost/shared_ptr.hpp>

#include <string>
#include <utility>

namespace gtsam {

  // Forward declarations / utilities
  class VectorValues;
  class ValueAutomaticCasting;
  template<typename T> static bool _truePredicate(const T&) { return true; }

  /* ************************************************************************* */
  class GTSAM_EXPORT ValueCloneAllocator {
  public:
    static Value* allocate_clone(const Value& a) { return a.clone_(); }
    static void deallocate_clone(const Value* a) { a->deallocate_(); }
    ValueCloneAllocator() {}
  };

  class GTSAM_EXPORT Values {

  private:

    // Internally we store a boost ptr_map, with a ValueCloneAllocator (defined
    // below) to clone and deallocate the Value objects, and a boost
    // fast_pool_allocator to allocate map nodes.  In this way, all memory is
    // allocated in a boost memory pool.
    typedef boost::ptr_map<
        Key,
        Value,
        std::less<Key>,
        ValueCloneAllocator,
        boost::fast_pool_allocator<std::pair<const Key, void*> > > KeyValueMap;

    // The member to store the values, see just above
    KeyValueMap values_;

    // Types obtained by iterating
    typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
    typedef KeyValueMap::iterator::value_type KeyValuePtrPair;

  public:

    typedef boost::shared_ptr<Values> shared_ptr;

    typedef boost::shared_ptr<const Values> const_shared_ptr;

    struct GTSAM_EXPORT KeyValuePair {
      const Key key; 
      Value& value;  

      KeyValuePair(Key _key, Value& _value) : key(_key), value(_value) {}
    };

    struct GTSAM_EXPORT ConstKeyValuePair {
      const Key key; 
      const Value& value;  

      ConstKeyValuePair(Key _key, const Value& _value) : key(_key), value(_value) {}
      ConstKeyValuePair(const KeyValuePair& kv) : key(kv.key), value(kv.value) {}
    };

    typedef boost::transform_iterator<
        boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::iterator> iterator;

    typedef boost::transform_iterator<
        boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_iterator> const_iterator;

    typedef boost::transform_iterator<
        boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::reverse_iterator> reverse_iterator;

    typedef boost::transform_iterator<
        boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_reverse_iterator> const_reverse_iterator;

    typedef KeyValuePair value_type;

    template<class ValueType = Value>
    class Filtered;

    template<class ValueType = Value>
    class ConstFiltered;

    Values() {}

    Values(const Values& other);

    Values(Values&& other);
    
    Values(std::initializer_list<ConstKeyValuePair> init);

    Values(const Values& other, const VectorValues& delta);

    template<class ValueType>
    Values(const Filtered<ValueType>& view);

    template<class ValueType>
    Values(const ConstFiltered<ValueType>& view);


    void print(const std::string& str = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

    bool equals(const Values& other, double tol=1e-9) const;


    template <typename ValueType>
    const ValueType at(Key j) const;

    double atDouble(size_t key) const { return at<double>(key);}

    const Value& at(Key j) const;

    bool exists(Key j) const;

    template<typename ValueType>
    boost::optional<const ValueType&> exists(Key j) const;

    iterator find(Key j) { return boost::make_transform_iterator(values_.find(j), &make_deref_pair); }

    const_iterator find(Key j) const { return boost::make_transform_iterator(values_.find(j), &make_const_deref_pair); }

    iterator lower_bound(Key j) { return boost::make_transform_iterator(values_.lower_bound(j), &make_deref_pair); }

    const_iterator lower_bound(Key j) const { return boost::make_transform_iterator(values_.lower_bound(j), &make_const_deref_pair); }

    iterator upper_bound(Key j) { return boost::make_transform_iterator(values_.upper_bound(j), &make_deref_pair); }

    const_iterator upper_bound(Key j) const { return boost::make_transform_iterator(values_.upper_bound(j), &make_const_deref_pair); }

    size_t size() const { return values_.size(); }

    bool empty() const { return values_.empty(); }

    const_iterator begin() const { return boost::make_transform_iterator(values_.begin(), &make_const_deref_pair); }
    const_iterator end() const { return boost::make_transform_iterator(values_.end(), &make_const_deref_pair); }
    iterator begin() { return boost::make_transform_iterator(values_.begin(), &make_deref_pair); }
    iterator end() { return boost::make_transform_iterator(values_.end(), &make_deref_pair); }
    const_reverse_iterator rbegin() const { return boost::make_transform_iterator(values_.rbegin(), &make_const_deref_pair); }
    const_reverse_iterator rend() const { return boost::make_transform_iterator(values_.rend(), &make_const_deref_pair); }
    reverse_iterator rbegin() { return boost::make_transform_iterator(values_.rbegin(), &make_deref_pair); }
    reverse_iterator rend() { return boost::make_transform_iterator(values_.rend(), &make_deref_pair); }


    Values retract(const VectorValues& delta) const;

    VectorValues localCoordinates(const Values& cp) const;


    void insert(Key j, const Value& val);

    void insert(const Values& values);

    template <typename ValueType>
    void insert(Key j, const ValueType& val);

    void insertDouble(Key j, double c) { insert<double>(j,c); }

    std::pair<iterator, bool> tryInsert(Key j, const Value& value);

    void update(Key j, const Value& val);

    template <typename T>
    void update(Key j, const T& val);

    void update(const Values& values);

    void erase(Key j);

    KeyVector keys() const;

    Values& operator=(const Values& rhs);

    void swap(Values& other) { values_.swap(other.values_); }

    void clear() { values_.clear(); }

    size_t dim() const;

    VectorValues zeroVectors() const;

    Filtered<Value>
    filter(const boost::function<bool(Key)>& filterFcn);

    template<class ValueType>
    Filtered<ValueType>
    filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>);

    ConstFiltered<Value>
    filter(const boost::function<bool(Key)>& filterFcn) const;

    template<class ValueType>
    ConstFiltered<ValueType>
    filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>) const;

    // Count values of given type \c ValueType
    template<class ValueType>
    size_t count() const {
      size_t i = 0;
      for (const auto key_value : *this) {
        if (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value))
          ++i;
      }
      return i;
    }

  private:
    // Filters based on ValueType (if not Value) and also based on the user-
    // supplied \c filter function.
    template<class ValueType>
    static bool filterHelper(const boost::function<bool(Key)> filter, const ConstKeyValuePair& key_value) {
      BOOST_STATIC_ASSERT((!boost::is_same<ValueType, Value>::value));
      // Filter and check the type
      return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value));
    }

    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_NVP(values_);
    }

    static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) {
      return ConstKeyValuePair(key_value.first, *key_value.second); }

    static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) {
      return KeyValuePair(key_value.first, *key_value.second); }

  };

  /* ************************************************************************* */
  class ValuesKeyAlreadyExists : public std::exception {
  protected:
    const Key key_; 

  private:
    mutable std::string message_;

  public:
    ValuesKeyAlreadyExists(Key key) noexcept :
      key_(key) {}

    ~ValuesKeyAlreadyExists() noexcept override {}

    Key key() const noexcept { return key_; }

    GTSAM_EXPORT const char* what() const noexcept override;
  };

  /* ************************************************************************* */
  class ValuesKeyDoesNotExist : public std::exception {
  protected:
    const char* operation_; 
    const Key key_; 

  private:
    mutable std::string message_;

  public:
    ValuesKeyDoesNotExist(const char* operation, Key key) noexcept :
      operation_(operation), key_(key) {}

    ~ValuesKeyDoesNotExist() noexcept override {}

    Key key() const noexcept { return key_; }

    GTSAM_EXPORT const char* what() const noexcept override;
  };

  /* ************************************************************************* */
  class ValuesIncorrectType : public std::exception {
  protected:
    const Key key_; 
    const std::type_info& storedTypeId_;
    const std::type_info& requestedTypeId_;

  private:
    mutable std::string message_;

  public:
    ValuesIncorrectType(Key key,
        const std::type_info& storedTypeId, const std::type_info& requestedTypeId) noexcept :
      key_(key), storedTypeId_(storedTypeId), requestedTypeId_(requestedTypeId) {}

    ~ValuesIncorrectType() noexcept override {}

    Key key() const noexcept { return key_; }

    const std::type_info& storedTypeId() const { return storedTypeId_; }

    const std::type_info& requestedTypeId() const { return requestedTypeId_; }

    GTSAM_EXPORT const char* what() const noexcept override;
  };

  /* ************************************************************************* */
  class DynamicValuesMismatched : public std::exception {

  public:
    DynamicValuesMismatched() noexcept {}

    ~DynamicValuesMismatched() noexcept override {}

    const char* what() const noexcept override {
      return "The Values 'this' and the argument passed to Values::localCoordinates have mismatched keys and values";
    }
  };

  /* ************************************************************************* */
  class NoMatchFoundForFixed: public std::exception {

  protected:
    const size_t M1_, N1_;
    const size_t M2_, N2_;

  private:
    mutable std::string message_;

  public:
    NoMatchFoundForFixed(size_t M1, size_t N1, size_t M2, size_t N2) noexcept :
        M1_(M1), N1_(N1), M2_(M2), N2_(N2) {
    }

    ~NoMatchFoundForFixed() noexcept override {
    }

    GTSAM_EXPORT const char* what() const noexcept override;
  };

  /* ************************************************************************* */
  template<>
  struct traits<Values> : public Testable<Values> {
  };

} //\ namespace gtsam


#include <gtsam/nonlinear/Values-inl.h>