Scatter.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/inference/Key.h>
#include <gtsam/base/FastMap.h>
#include <gtsam/dllexport.h>

#include <boost/optional.hpp>

namespace gtsam {

class GaussianFactorGraph;
class Ordering;

struct GTSAM_EXPORT SlotEntry {
  Key key;
  size_t dimension;
  SlotEntry(Key _key, size_t _dimension) : key(_key), dimension(_dimension) {}
  std::string toString() const;
  friend bool operator<(const SlotEntry& p, const SlotEntry& q) {
    return p.key < q.key;
  }
  static bool Zero(const SlotEntry& p) { return p.dimension==0;}
};

class Scatter : public FastVector<SlotEntry> {
 public:
  Scatter() {}

  Scatter(const GaussianFactorGraph& gfg,
          boost::optional<const Ordering&> ordering = boost::none);

  void add(Key key, size_t dim);

 private:

  iterator find(Key key);
};

}  // \ namespace gtsam