Program Listing for File variable_stamp_index.hpp

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#ifndef FUSE_OPTIMIZERS__VARIABLE_STAMP_INDEX_HPP_
#define FUSE_OPTIMIZERS__VARIABLE_STAMP_INDEX_HPP_

#include <unordered_map>
#include <unordered_set>

#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_core/uuid.hpp>

#include <rclcpp/time.hpp>


namespace fuse_optimizers
{
class VariableStampIndex
{
public:
  FUSE_SMART_PTR_DEFINITIONS(VariableStampIndex)


  VariableStampIndex() = default;

  virtual ~VariableStampIndex() = default;

  bool empty() const {return variables_.empty() && constraints_.empty();}

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

  void clear()
  {
    stamped_index_.clear();
    variables_.clear();
    constraints_.clear();
  }

  rclcpp::Time currentStamp() const;

  void addNewTransaction(const fuse_core::Transaction & transaction);

  void addMarginalTransaction(const fuse_core::Transaction & transaction);

  template<typename OutputUuidIterator>
  void query(const rclcpp::Time & stamp, OutputUuidIterator result) const
  {
    // First get all of the stamped variables greater than or equal to the input stamp
    std::unordered_set<fuse_core::UUID> recent_variable_uuids;
    for (const auto & variable_stamp_pair : stamped_index_) {
      if (variable_stamp_pair.second >= stamp) {
        recent_variable_uuids.insert(variable_stamp_pair.first);
      }
    }

    // Now find all of the variables connected to the recent variables
    std::unordered_set<fuse_core::UUID> connected_variable_uuids;
    for (const auto & recent_variable_uuid : recent_variable_uuids) {
      // Add the recent variable to ensure connected_variable_uuids is a superset of
      // recent_variable_uuids
      connected_variable_uuids.insert(recent_variable_uuid);

      const auto variables_iter = variables_.find(recent_variable_uuid);
      if (variables_iter != variables_.end()) {
        for (const auto & connected_constraint_uuid : variables_iter->second) {
          const auto constraints_iter = constraints_.find(connected_constraint_uuid);
          if (constraints_iter != constraints_.end()) {
            for (const auto & connected_variable_uuid : constraints_iter->second) {
              connected_variable_uuids.insert(connected_variable_uuid);
            }
          }
        }
      }
    }

    // Return the set of variables that are not connected
    for (const auto & variable : variables_) {
      if (connected_variable_uuids.find(variable.first) == connected_variable_uuids.end()) {
        *result = variable.first;
        ++result;
      }
    }
  }

protected:
  using StampedMap = std::unordered_map<fuse_core::UUID, rclcpp::Time>;
  StampedMap stamped_index_;

  using VariableToConstraintsMap = std::unordered_map<fuse_core::UUID,
      std::unordered_set<fuse_core::UUID>>;
  VariableToConstraintsMap variables_;

  using ConstraintToVariablesMap = std::unordered_map<fuse_core::UUID,
      std::unordered_set<fuse_core::UUID>>;
  ConstraintToVariablesMap constraints_;

  void applyAddedConstraints(const fuse_core::Transaction & transaction);

  void applyAddedVariables(const fuse_core::Transaction & transaction);

  void applyRemovedConstraints(const fuse_core::Transaction & transaction);

  void applyRemovedVariables(const fuse_core::Transaction & transaction);
};

}  // namespace fuse_optimizers

#endif  // FUSE_OPTIMIZERS__VARIABLE_STAMP_INDEX_HPP_