types.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/dllexport.h>
#include <boost/concept/assert.hpp>
#include <boost/range/concepts.hpp>
#include <gtsam/config.h> // for GTSAM_USE_TBB

#include <cstddef>
#include <cstdint>

#include <exception>
#include <string>

#ifdef GTSAM_USE_TBB
#include <tbb/scalable_allocator.h>
#endif

#ifdef GTSAM_USE_EIGEN_MKL_OPENMP
#include <omp.h>
#endif

#ifdef __clang__
#  define CLANG_DIAGNOSTIC_PUSH_IGNORE(diag) \
  _Pragma("clang diagnostic push") \
  _Pragma("clang diagnostic ignored \"" diag "\"")
#else
#  define CLANG_DIAGNOSTIC_PUSH_IGNORE(diag)
#endif

#ifdef __clang__
#  define CLANG_DIAGNOSTIC_POP() _Pragma("clang diagnostic pop")
#else
#  define CLANG_DIAGNOSTIC_POP()
#endif

namespace gtsam {

  std::string GTSAM_EXPORT demangle(const char* name);

  typedef std::uint64_t Key;

  typedef std::uint64_t FactorIndex;

  typedef ptrdiff_t DenseIndex;

  /* ************************************************************************* */
  template<typename TEST_TYPE, typename BASIC_TYPE, typename AS_NON_CONST,
      typename AS_CONST>
  struct const_selector {
  };

  template<typename BASIC_TYPE, typename AS_NON_CONST, typename AS_CONST>
  struct const_selector<BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST> {
    typedef AS_NON_CONST type;
  };

  template<typename BASIC_TYPE, typename AS_NON_CONST, typename AS_CONST>
  struct const_selector<const BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST> {
    typedef AS_CONST type;
  };

  /* ************************************************************************* */
  template<typename T, T defaultValue>
  struct ValueWithDefault {
    T value;

    ValueWithDefault() : value(defaultValue) {}

    ValueWithDefault(const T& _value) : value(_value) {}

    T& operator*() { return value; }

    const T& operator*() const { return value; }

    operator T() const { return value; }
  };

  /* ************************************************************************* */
  template<typename T>
  class ListOfOneContainer {
    T element_;
  public:
    typedef T value_type;
    typedef const T* const_iterator;
    typedef T* iterator;
    ListOfOneContainer(const T& element) : element_(element) {}
    const T* begin() const { return &element_; }
    const T* end() const { return &element_ + 1; }
    T* begin() { return &element_; }
    T* end() { return &element_ + 1; }
    size_t size() const { return 1; }
  };

  BOOST_CONCEPT_ASSERT((boost::RandomAccessRangeConcept<ListOfOneContainer<int> >));

  template<typename T>
  ListOfOneContainer<T> ListOfOne(const T& element) {
    return ListOfOneContainer<T>(element);
  }

  /* ************************************************************************* */
#ifdef __clang__
#  pragma clang diagnostic push
#  pragma clang diagnostic ignored "-Wunused-private-field" // Clang complains that previousOpenMPThreads is unused in the #else case below
#endif

  class TbbOpenMPMixedScope
  {
    int previousOpenMPThreads;

  public:
#if defined GTSAM_USE_TBB && defined GTSAM_USE_EIGEN_MKL_OPENMP
    TbbOpenMPMixedScope() :
      previousOpenMPThreads(omp_get_num_threads())
    {
      omp_set_num_threads(omp_get_num_procs() / 4);
    }

    ~TbbOpenMPMixedScope()
    {
      omp_set_num_threads(previousOpenMPThreads);
    }
#else
    TbbOpenMPMixedScope() : previousOpenMPThreads(-1) {}
    ~TbbOpenMPMixedScope() {}
#endif
  };

#ifdef __clang__
#  pragma clang diagnostic pop
#endif

}

/* ************************************************************************* */
#ifdef NDEBUG
#define assert_throw(CONDITION, EXCEPTION) ((void)0)
#else
#define assert_throw(CONDITION, EXCEPTION) \
  if (!(CONDITION)) { \
  throw (EXCEPTION); \
  }
#endif

#ifdef _MSC_VER

// Define some common g++ functions and macros we use that MSVC does not have

#if (_MSC_VER < 1800)

#include <boost/math/special_functions/fpclassify.hpp>
namespace std {
  template<typename T> inline int isfinite(T a) {
    return (int)boost::math::isfinite(a); }
  template<typename T> inline int isnan(T a) {
    return (int)boost::math::isnan(a); }
  template<typename T> inline int isinf(T a) {
    return (int)boost::math::isinf(a); }
}

#endif

#include <boost/math/constants/constants.hpp>
#ifndef M_PI
#define M_PI (boost::math::constants::pi<double>())
#endif
#ifndef M_PI_2
#define M_PI_2 (boost::math::constants::pi<double>() / 2.0)
#endif
#ifndef M_PI_4
#define M_PI_4 (boost::math::constants::pi<double>() / 4.0)
#endif

#endif

#ifdef min
#undef min
#endif

#ifdef max
#undef max
#endif

#ifdef ERROR
#undef ERROR
#endif

namespace gtsam {

  template<typename ...> using void_t = void;

  template<typename, typename = void_t<>>
  struct needs_eigen_aligned_allocator : std::false_type {
  };
  template<typename T>
  struct needs_eigen_aligned_allocator<T, void_t<typename T::_eigen_aligned_allocator_trait>> : std::true_type {
  };

}

#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW \
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
  using _eigen_aligned_allocator_trait = void;

#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
  using _eigen_aligned_allocator_trait = void;