VariableIndex.cpp

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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
 
 * -------------------------------------------------------------------------- */
 
#include <iostream>
 
#include <gtsam/inference/VariableIndex.h>
 
namespace gtsam {
 
using namespace std;
 
const FactorIndices& VariableIndex::operator[](Key variable) const {
  return index_.find(variable)->second;
}
 
const FactorIndices& VariableIndex::at(Key variable) const {
  KeyMap::const_iterator item = index_.find(variable);
  if(item == index_.end())
    throw std::invalid_argument("Requested non-existent variable '" +
                                DefaultKeyFormatter(variable) +
                                "' from VariableIndex");
  else
    return item->second;
}
 
bool VariableIndex::empty(Key variable) const {
  return (*this)[variable].empty();
}
 
/* ************************************************************************* */
bool VariableIndex::equals(const VariableIndex& other, double tol) const {
  return this->nEntries_ == other.nEntries_ && this->nFactors_ == other.nFactors_
    && this->index_ == other.index_;
}
 
/* ************************************************************************* */
void VariableIndex::print(const string& str, const KeyFormatter& keyFormatter) const {
  cout << str;
  cout << "nEntries = " << nEntries() << ", nFactors = " << nFactors() << "\n";
  for(KeyMap::value_type key_factors: index_) {
    cout << "var " << keyFormatter(key_factors.first) << ":";
    for(const auto index: key_factors.second)
      cout << " " << index;
    cout << "\n";
  }
  cout.flush();
}
 
/* ************************************************************************* */
void VariableIndex::outputMetisFormat(ostream& os) const {
  os << size() << " " << nFactors() << "\n";
  // run over variables, which will be hyper-edges.
  for(KeyMap::value_type key_factors: index_) {
    // every variable is a hyper-edge covering its factors
    for(const auto index: key_factors.second)
      os << (index+1) << " "; // base 1
    os << "\n";
  }
  os << flush;
}
 
/* ************************************************************************* */
void VariableIndex::augmentExistingFactor(const FactorIndex factorIndex, const KeySet & newKeys)
{
  gttic(VariableIndex_augmentExistingFactor);
 
  for(const Key key: newKeys) {
    index_[key].push_back(factorIndex);
    ++nEntries_;
  }
 
  gttoc(VariableIndex_augmentExistingFactor);
}
 
}