KeyInfo.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/Vector.h>
#include <gtsam/dllexport.h>
#include <gtsam/inference/Ordering.h>
 
#include <map>
#include <vector>
 
namespace gtsam {
 
class GaussianFactorGraph;
class VectorValues;

struct GTSAM_EXPORT KeyInfoEntry {
  size_t index = 0;
  size_t dim = 0;
  size_t start = 0;
 
  KeyInfoEntry() = default;
  KeyInfoEntry(size_t index, size_t dimension, size_t start)
      : index(index), dim(dimension), start(start) {}
};

class GTSAM_EXPORT KeyInfo : public std::map<Key, KeyInfoEntry> {
 public:
  using Base = std::map<Key, KeyInfoEntry>;

  KeyInfo() = default;

  explicit KeyInfo(const GaussianFactorGraph& graph);

  KeyInfo(const GaussianFactorGraph& graph, const Ordering& ordering);

  explicit KeyInfo(const std::map<Key, size_t>& dimensions);

  KeyInfo(const std::map<Key, size_t>& dimensions, const Ordering& ordering);

  size_t numCols() const { return numCols_; }

  const Ordering& ordering() const { return ordering_; }

  std::vector<size_t> colSpec() const;

  VectorValues x0() const;

  Vector x0vector() const;
 
 private:
  Ordering ordering_;
  size_t numCols_ = 0;
 
  void initialize(const std::map<Key, size_t>& dimensions);
};

GTSAM_EXPORT VectorValues buildVectorValues(const Vector& vector,
                                            const KeyInfo& keyInfo);
 
}  // namespace gtsam