EdgeKey.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/Testable.h>
#include <gtsam/inference/Key.h>
 
namespace gtsam {
class GTSAM_EXPORT EdgeKey {
 protected:
  std::uint32_t i_;  
  std::uint32_t j_;  
 
 public:

  EdgeKey() : i_(0), j_(0) {}

  EdgeKey(std::uint32_t i, std::uint32_t j) : i_(i), j_(j) {}
 
  EdgeKey(Key key)
      : i_(static_cast<std::uint32_t>(key >> 32)),
        j_(static_cast<std::uint32_t>(key)) {}


  Key key() const { return ((std::uint64_t)i_ << 32) | j_; }

  operator Key() const { return key(); }

  inline std::uint32_t i() const { return i_; }

  inline std::uint32_t j() const { return j_; }

  operator std::string() const;

  friend GTSAM_EXPORT std::ostream& operator<<(std::ostream&, const EdgeKey&);


  void print(const std::string& s = "") const;

  bool equals(const EdgeKey& expected, double tol = 0.0) const {
    return (*this) == expected;
  }

};

template <>
struct traits<EdgeKey> : public Testable<EdgeKey> {};
 
}  // namespace gtsam