WnoaStateData.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * 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/inference/Key.h>
 
#include <functional>
#include <limits>
 
namespace gtsam {

struct GTSAM_EXPORT StateData {
  Key pose;      
  Key velocity;  
  double time;   

  StateData() = default;

  StateData(Key pose_in, Key velocity_in, double time_in)
      : pose(pose_in), velocity(velocity_in), time(time_in) {};

  bool operator<(const StateData& other) const {
    if (this->time < other.time) return true;
    if (this->time > other.time) return false;
    if (this->pose < other.pose) return true;
    if (this->pose > other.pose) return false;
    return this->velocity < other.velocity;
  }

  bool operator>(const StateData& other) const {
    if (this->time > other.time) return true;
    if (this->time < other.time) return false;
    if (this->pose > other.pose) return true;
    if (this->pose < other.pose) return false;
    return this->velocity > other.velocity;
  }

  bool operator<(double time) const { return this->time < time; }

  bool operator>(double time) const { return this->time > time; }

  bool operator==(const StateData& other) const {
    return (this->pose == other.pose) && (this->velocity == other.velocity);
  }
};
 
}  // namespace gtsam

namespace std {
template <>
struct hash<gtsam::StateData> {
  std::size_t operator()(const gtsam::StateData& p) const noexcept {
    return std::hash<uint64_t>()(p.pose) ^
           (std::hash<uint64_t>()(p.velocity) << 1);
  }
};
}  // namespace std