#include <Values.h>

Inheritance diagram for gtsam::Values:

[legend]

Classes
class	ConstFiltered

struct	ConstKeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...

class	Filtered

struct	KeyValuePair
	A key-value pair, which you get by dereferencing iterators. More...

Public Types
typedef boost::transform_iterator< boost::function1< ConstKeyValuePair, const ConstKeyValuePtrPair & >, KeyValueMap::const_iterator >	const_iterator
	Const forward iterator, with value type ConstKeyValuePair. More...

typedef boost::transform_iterator< boost::function1< ConstKeyValuePair, const ConstKeyValuePtrPair & >, KeyValueMap::const_reverse_iterator >	const_reverse_iterator
	Const reverse iterator, with value type ConstKeyValuePair. More...

typedef boost::shared_ptr< const Values >	const_shared_ptr
	A const shared_ptr to this class. More...

typedef boost::transform_iterator< boost::function1< KeyValuePair, const KeyValuePtrPair & >, KeyValueMap::iterator >	iterator
	Mutable forward iterator, with value type KeyValuePair. More...

typedef boost::transform_iterator< boost::function1< KeyValuePair, const KeyValuePtrPair & >, KeyValueMap::reverse_iterator >	reverse_iterator
	Mutable reverse iterator, with value type KeyValuePair. More...

typedef boost::shared_ptr< Values >	shared_ptr
	A shared_ptr to this class. More...

typedef KeyValuePair	value_type

Public Member Functions
template<typename ValueType >
const ValueType	at (Key j) const

const Value &	at (Key j) const

double	atDouble (size_t key) const
	version for double More...

const_iterator	begin () const

iterator	begin ()

void	clear ()

template<class ValueType >
size_t	count () const

size_t	dim () const

bool	empty () const

const_iterator	end () const

iterator	end ()

void	erase (Key j)

bool	exists (Key j) const

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

iterator	find (Key j)

const_iterator	find (Key j) 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)
	version for double More...

KeyVector	keys () const

iterator	lower_bound (Key j)

const_iterator	lower_bound (Key j) const

Values &	operator= (const Values &rhs)

const_reverse_iterator	rbegin () const

reverse_iterator	rbegin ()

const_reverse_iterator	rend () const

reverse_iterator	rend ()

size_t	size () const

void	swap (Values &other)

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)

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

iterator	upper_bound (Key j)

const_iterator	upper_bound (Key j) const

	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)

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

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

VectorValues	zeroVectors () const

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

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

Manifold Operations
Values	retract (const VectorValues &delta) const

VectorValues	localCoordinates (const Values &cp) const

Private Types
typedef KeyValueMap::const_iterator::value_type	ConstKeyValuePtrPair

typedef boost::ptr_map< Key, Value, std::less< Key >, ValueCloneAllocator, boost::fast_pool_allocator< std::pair< const Key, void * > > >	KeyValueMap

typedef KeyValueMap::iterator::value_type	KeyValuePtrPair

Private Member Functions
template<>
bool	filterHelper (const boost::function< bool(Key)> filter, const ConstKeyValuePair &key_value)

template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Static Private Member Functions
template<class ValueType >
static bool	filterHelper (const boost::function< bool(Key)> filter, const ConstKeyValuePair &key_value)

static ConstKeyValuePair	make_const_deref_pair (const KeyValueMap::const_iterator::value_type &key_value)

static KeyValuePair	make_deref_pair (const KeyValueMap::iterator::value_type &key_value)

Private Attributes
KeyValueMap	values_

Friends
class	boost::serialization::access

Detailed Description

A non-templated config holding any types of Manifold-group elements. A values structure is a map from keys to values. It is used to specify the value of a bunch of variables in a factor graph. A Values is a values structure which can hold variables that are elements on manifolds, not just vectors. It then, as a whole, implements a aggregate type which is also a manifold element, and hence supports operations dim, retract, and localCoordinates.

Definition at line 71 of file Values.h.

Member Typedef Documentation

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

Const forward iterator, with value type ConstKeyValuePair.

Definition at line 124 of file Values.h.

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

Const reverse iterator, with value type ConstKeyValuePair.

Definition at line 132 of file Values.h.

typedef boost::shared_ptr<const Values> gtsam::Values::const_shared_ptr

A const shared_ptr to this class.

Definition at line 99 of file Values.h.

typedef KeyValueMap::const_iterator::value_type gtsam::Values::ConstKeyValuePtrPair

private

Definition at line 90 of file Values.h.

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

Mutable forward iterator, with value type KeyValuePair.

Definition at line 120 of file Values.h.

typedef boost::ptr_map< Key, Value, std::less<Key>, ValueCloneAllocator, boost::fast_pool_allocator<std::pair<const Key, void*> > > gtsam::Values::KeyValueMap

private

Definition at line 84 of file Values.h.

typedef KeyValueMap::iterator::value_type gtsam::Values::KeyValuePtrPair

private

Definition at line 91 of file Values.h.

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

Mutable reverse iterator, with value type KeyValuePair.

Definition at line 128 of file Values.h.

typedef boost::shared_ptr<Values> gtsam::Values::shared_ptr

A shared_ptr to this class.

Definition at line 96 of file Values.h.

typedef KeyValuePair gtsam::Values::value_type

Definition at line 134 of file Values.h.

Constructor & Destructor Documentation

gtsam::Values::Values ( )

inline

Default constructor creates an empty Values class

Definition at line 145 of file Values.h.

gtsam::Values::Values ( const Values & other )

Copy constructor duplicates all keys and values

Definition at line 47 of file Values.cpp.

gtsam::Values::Values ( Values && other )

Move constructor

Definition at line 52 of file Values.cpp.

gtsam::Values::Values ( std::initializer_list< ConstKeyValuePair > init )

Constructor from initializer list. Example usage:

Values v = {{k1, genericValue(pose1)}, {k2, genericValue(point2)}};

Definition at line 56 of file Values.cpp.

gtsam::Values::Values	(	const Values &	other,
		const VectorValues &	delta
	)

Construct from a Values and an update vector: identical to other.retract(delta)

Definition at line 62 of file Values.cpp.

template<class ValueType >

gtsam::Values::Values ( const Filtered< ValueType > & view )

Constructor from a Filtered view copies out all values

template<class ValueType >

gtsam::Values::Values ( const ConstFiltered< ValueType > & view )

Constructor from a Filtered or ConstFiltered view

template<class ValueType >

gtsam::Values::Values ( const Values::Filtered< ValueType > & view )

Constructor from a Filtered view copies out all values

Definition at line 219 of file Values-inl.h.

template<class ValueType >

gtsam::Values::Values ( const Values::ConstFiltered< ValueType > & view )

Definition at line 228 of file Values-inl.h.

Member Function Documentation

template<typename ValueType >

const ValueType gtsam::Values::at ( Key j ) const

Retrieve a variable by key j. The type of the value associated with this key is supplied as a template argument to this function.

Parameters

j	Retrieve the value associated with this key

Template Parameters

ValueType The type of the value stored with this key, this method Throws DynamicValuesIncorrectType if this requested type is not correct. Dynamic matrices/vectors can be retrieved as fixed-size, but not vice-versa.

Returns: The stored value

Definition at line 342 of file Values-inl.h.

const Value & gtsam::Values::at ( Key j ) const

Retrieve a variable by key j. This version returns a reference to the base Value class, and needs to be casted before use.

Parameters

j	Retrieve the value associated with this key

Returns: A const reference to the stored value

Definition at line 129 of file Values.cpp.

double gtsam::Values::atDouble ( size_t key ) const

inline

version for double

Definition at line 194 of file Values.h.

const_iterator gtsam::Values::begin ( ) const

inline

Definition at line 241 of file Values.h.

iterator gtsam::Values::begin ( )

inline

Definition at line 243 of file Values.h.

void gtsam::Values::clear ( void )

inline

Remove all variables from the config

Definition at line 311 of file Values.h.

template<class ValueType >

size_t gtsam::Values::count ( ) const

inline

Definition at line 398 of file Values.h.

size_t gtsam::Values::dim ( ) const

Compute the total dimensionality of all values ( $ O(n) $ )

Definition at line 207 of file Values.cpp.

bool gtsam::Values::empty ( ) const

inline

whether the config is empty

Definition at line 239 of file Values.h.

const_iterator gtsam::Values::end ( ) const

inline

Definition at line 242 of file Values.h.

iterator gtsam::Values::end ( )

inline

Definition at line 244 of file Values.h.

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

Test whether the sets of keys and values are identical

Definition at line 88 of file Values.cpp.

void gtsam::Values::erase ( Key j )

Remove a variable from the config, throws KeyDoesNotExist<J> if j is not present

Definition at line 183 of file Values.cpp.

bool gtsam::Values::exists ( Key j ) const

Check if a value exists with key j. See exists<>(Key j) and exists(const TypedKey& j) for versions that return the value if it exists.

Definition at line 104 of file Values.cpp.

template<typename ValueType >

boost::optional< const ValueType & > gtsam::Values::exists ( Key j ) const

Check if a value with key j exists, returns the value with type Value if the key does exist, or boost::none if it does not exist. Throws DynamicValuesIncorrectType if the value type associated with the requested key does not match the stored value type.

Definition at line 357 of file Values-inl.h.

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

inline

Return a filtered view of this Values class, without copying any data. When iterating over the filtered view, only the key-value pairs with a key causing filterFcn to return true are visited. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Parameters

filterFcn The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys.

Returns: A filtered view of the original Values class, which references the original Values class.

Definition at line 237 of file Values-inl.h.

template<class ValueType >

Values::Filtered< ValueType > gtsam::Values::filter ( const boost::function< bool(Key)> & filterFcn = &_truePredicate<Key> )

Return a filtered view of this Values class, without copying any data. In this templated version, only key-value pairs whose value matches the template argument ValueType and whose key causes the function argument filterFcn to return true are visited when iterating over the filtered view. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Template Parameters

ValueType The type that the value in a key-value pair must match to be included in the filtered view. Currently, base classes are not resolved so the type must match exactly, except if ValueType = Value, in which case no type filtering is done.

Parameters

filterFcn The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys (default: always return true so that filter() only filters by type, matching ValueType).

Returns: A filtered view of the original Values class, which references the original Values class.

Definition at line 244 of file Values-inl.h.

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

inline

Return a filtered view of this Values class, without copying any data. When iterating over the filtered view, only the key-value pairs with a key causing filterFcn to return true are visited. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Parameters

filterFcn The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys.

Returns: A filtered view of the original Values class, which references the original Values class.

Definition at line 250 of file Values-inl.h.

template<class ValueType >

Values::ConstFiltered< ValueType > gtsam::Values::filter ( const boost::function< bool(Key)> & filterFcn = &_truePredicate<Key> ) const

Return a filtered view of this Values class, without copying any data. In this templated version, only key-value pairs whose value matches the template argument ValueType and whose key causes the function argument filterFcn to return true are visited when iterating over the filtered view. Because the object Filtered<Value> returned from filter() is only a view the original Values object must not be deallocated or go out of scope as long as the view is needed.

Template Parameters

ValueType The type that the value in a key-value pair must match to be included in the filtered view. Currently, base classes are not resolved so the type must match exactly, except if ValueType = Value, in which case no type filtering is done.

Parameters

filterFcn The function that determines which key-value pairs are included in the filtered view, for which this function returns true on their keys.

Returns: A filtered view of the original Values class, which references the original Values class.

Definition at line 257 of file Values-inl.h.

template<>

bool gtsam::Values::filterHelper	(	const boost::function< bool(Key)>	filter,
		const ConstKeyValuePair &	key_value
	)

inlineprivate

Definition at line 263 of file Values-inl.h.

template<class ValueType >

static bool gtsam::Values::filterHelper	(	const boost::function< bool(Key)>	filter,
		const ConstKeyValuePair &	key_value
	)

inlinestaticprivate

Definition at line 411 of file Values.h.

iterator gtsam::Values::find ( Key j )

inline

Find an element by key, returning an iterator, or end() if the key was not found.

Definition at line 217 of file Values.h.

const_iterator gtsam::Values::find ( Key j ) const

inline

Find an element by key, returning an iterator, or end() if the key was not found.

Definition at line 221 of file Values.h.

void gtsam::Values::insert	(	Key	j,
		const Value &	val
	)

Add a variable with the given j, throws KeyAlreadyExists<J> if j is already present

Definition at line 140 of file Values.cpp.

void gtsam::Values::insert ( const Values & values )

Add a set of variables, throws KeyAlreadyExists<J> if a key is already present

Definition at line 147 of file Values.cpp.

template<typename ValueType >

void gtsam::Values::insert	(	Key	j,
		const ValueType &	val
	)

Templated version to add a variable with the given j, throws KeyAlreadyExists<J> if j is already present

Definition at line 380 of file Values-inl.h.

void gtsam::Values::insertDouble	(	Key	j,
		double	c
	)

inline

version for double

Definition at line 274 of file Values.h.

KeyVector gtsam::Values::keys ( ) const

Returns a set of keys in the config Note: by construction, the list is ordered

Definition at line 191 of file Values.cpp.

VectorValues gtsam::Values::localCoordinates ( const Values & cp ) const

Get a delta config about a linearization point c0 (*this)

Definition at line 114 of file Values.cpp.

iterator gtsam::Values::lower_bound ( Key j )

inline

Find the element greater than or equal to the specified key.

Definition at line 224 of file Values.h.

const_iterator gtsam::Values::lower_bound ( Key j ) const

inline

Find the element greater than or equal to the specified key.

Definition at line 227 of file Values.h.

static ConstKeyValuePair gtsam::Values::make_const_deref_pair ( const KeyValueMap::const_iterator::value_type & key_value )

inlinestaticprivate

Definition at line 424 of file Values.h.

static KeyValuePair gtsam::Values::make_deref_pair ( const KeyValueMap::iterator::value_type & key_value )

inlinestaticprivate

Definition at line 427 of file Values.h.

Values & gtsam::Values::operator= ( const Values & rhs )

Replace all keys and variables

Definition at line 200 of file Values.cpp.

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

print method for testing and debugging

Definition at line 77 of file Values.cpp.

const_reverse_iterator gtsam::Values::rbegin ( ) const

inline

Definition at line 245 of file Values.h.

reverse_iterator gtsam::Values::rbegin ( )

inline

Definition at line 247 of file Values.h.

const_reverse_iterator gtsam::Values::rend ( ) const

inline

Definition at line 246 of file Values.h.

reverse_iterator gtsam::Values::rend ( )

inline

Definition at line 248 of file Values.h.

Values gtsam::Values::retract ( const VectorValues & delta ) const

Add a delta config to current config and returns a new config

Definition at line 109 of file Values.cpp.

template<class ARCHIVE >

void gtsam::Values::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 420 of file Values.h.

size_t gtsam::Values::size ( ) const

inline

The number of variables in this config

Definition at line 236 of file Values.h.

void gtsam::Values::swap ( Values & other )

inline

Swap the contents of two Values without copying data

Definition at line 308 of file Values.h.

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

insert that mimics the STL map insert - if the value already exists, the map is not modified and an iterator to the existing value is returned, along with 'false'. If the value did not exist, it is inserted and an iterator pointing to the new element, along with 'true', is returned.

Definition at line 155 of file Values.cpp.

void gtsam::Values::update	(	Key	j,
		const Value &	val
	)

single element change of existing element

Definition at line 161 of file Values.cpp.

template<typename T >

void gtsam::Values::update	(	Key	j,
		const T &	val
	)

Templated version to update a variable with the given j, throws KeyDoesNotExist<J> if j is not present. If no chart is specified, the DefaultChart<ValueType> is used.

void gtsam::Values::update ( const Values & values )

update the current available values without adding new ones

Definition at line 176 of file Values.cpp.

template<typename ValueType >

void gtsam::Values::update	(	Key	j,
		const ValueType &	val
	)

Definition at line 386 of file Values-inl.h.

iterator gtsam::Values::upper_bound ( Key j )

inline

Find the lowest-ordered element greater than the specified key.

Definition at line 230 of file Values.h.

const_iterator gtsam::Values::upper_bound ( Key j ) const

inline

Find the lowest-ordered element greater than the specified key.

Definition at line 233 of file Values.h.

VectorValues gtsam::Values::zeroVectors ( ) const

Return a VectorValues of zero vectors for each variable in this Values

Definition at line 216 of file Values.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 418 of file Values.h.

Member Data Documentation

KeyValueMap gtsam::Values::values_

private

Definition at line 87 of file Values.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation