FastSet.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/config.h>
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/version.hpp>
#if BOOST_VERSION >= 107400
#include <boost/serialization/library_version_type.hpp>
#endif
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/set.hpp>
#endif
#include <gtsam/base/FastDefaultAllocator.h>
#include <gtsam/base/Testable.h>
 
#include <functional>
#include <set>
 
namespace boost {
namespace serialization {
class access;
} /* namespace serialization */
} /* namespace boost */
 
namespace gtsam {

template<typename VALUE>
class FastSet: public std::set<VALUE, std::less<VALUE>,
    typename internal::FastDefaultAllocator<VALUE>::type> {
 
public:
 
  typedef std::set<VALUE, std::less<VALUE>,
  typename internal::FastDefaultAllocator<VALUE>::type> Base;
 
  using Base::Base;  // Inherit the set constructors
 
  FastSet() = default; 

  template<typename INPUTCONTAINER>
  explicit FastSet(const INPUTCONTAINER& container) :
  Base(container.begin(), container.end()) {
  }

  FastSet(const FastSet<VALUE>& x) :
  Base(x) {
  }

  FastSet(const Base& x) :
  Base(x) {
  }
 
  FastSet& operator=(const FastSet& other) = default;
 
#ifdef GTSAM_ALLOCATOR_BOOSTPOOL
  FastSet(const std::set<VALUE>& x) {
    // This if statement works around a bug in boost pool allocator and/or
    // STL vector where if the size is zero, the pool allocator will allocate
    // huge amounts of memory.
    if(x.size() > 0)
    Base::insert(x.begin(), x.end());
  }
#endif

  operator std::set<VALUE>() const {
    return std::set<VALUE>(this->begin(), this->end());
  }

  bool exists(const VALUE& e) const {
    return this->find(e) != this->end();
  }

  void print(const std::string& str = "") const {
    for (typename Base::const_iterator it = this->begin(); it != this->end(); ++it)
    traits<VALUE>::Print(*it, str);
  }

  bool equals(const FastSet<VALUE>& other, double tol = 1e-9) const {
    typename Base::const_iterator it1 = this->begin(), it2 = other.begin();
    while (it1 != this->end()) {
      if (it2 == other.end() || !traits<VALUE>::Equals(*it2, *it2, tol))
      return false;
      ++it1;
      ++it2;
    }
    return true;
  }

  void merge(const FastSet& other) {
    Base::insert(other.begin(), other.end());
  }
 
private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
  }
#endif
};
 
}