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>
 
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:
   GTSAM_EXPORT Scatter() {}

   GTSAM_EXPORT explicit Scatter(const GaussianFactorGraph& gfg);

   GTSAM_EXPORT explicit Scatter(const GaussianFactorGraph& gfg, const Ordering& ordering);

   GTSAM_EXPORT void add(Key key, size_t dim);
 
 private:
  iterator find(Key key);
};
 
}  // \ namespace gtsam