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<div id="projectname">gtsam<span id="projectnumber"> 4.1.1</span>
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<a href="a00671.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/* ----------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"></span> </div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> * GTSAM Copyright 2010, Georgia Tech Research Corporation,</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Atlanta, Georgia 30332-0415</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All Rights Reserved</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> * Authors: Frank Dellaert, et al. (see THANKS for the full author list)</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"></span> </div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * See LICENSE for the license information</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"></span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> * -------------------------------------------------------------------------- */</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="preprocessor">#include <<a class="code" href="a00491.html">gtsam/inference/Key.h</a>></span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="preprocessor">#include <<a class="code" href="a00047.html">gtsam/base/FastMap.h</a>></span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="preprocessor">#include <gtsam/dllexport.h></span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span> </div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="keyword">namespace </span><a class="code hl_namespace" href="a01596.html">gtsam</a> {</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="keyword">class </span>GaussianFactorGraph;</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="keyword">class </span>Ordering;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="a03976.html"> 32</a></span><span class="keyword">struct </span>GTSAM_EXPORT <a class="code hl_struct" href="a03976.html">SlotEntry</a> {</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> <a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> key;</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> <span class="keywordtype">size_t</span> dimension;</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> <a class="code hl_struct" href="a03976.html">SlotEntry</a>(<a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> _key, <span class="keywordtype">size_t</span> _dimension) : key(_key), dimension(_dimension) {}</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> std::string toString() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">friend</span> <span class="keywordtype">bool</span> operator<(<span class="keyword">const</span> <a class="code hl_struct" href="a03976.html">SlotEntry</a>& p, <span class="keyword">const</span> <a class="code hl_struct" href="a03976.html">SlotEntry</a>& q) {</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <span class="keywordflow">return</span> p.key < q.key;</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> }</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> Zero(<span class="keyword">const</span> <a class="code hl_struct" href="a03976.html">SlotEntry</a>& p) { <span class="keywordflow">return</span> p.dimension==0;}</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span>};</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="a03980.html"> 49</a></span><span class="keyword">class </span><a class="code hl_class" href="a03980.html">Scatter</a> : <span class="keyword">public</span> FastVector<SlotEntry> {</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="a03980.html#ad4220161208c55a3e426b0b078567a4b"> 52</a></span> GTSAM_EXPORT <a class="code hl_function" href="a03980.html#ad4220161208c55a3e426b0b078567a4b">Scatter</a>() {}</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> GTSAM_EXPORT <span class="keyword">explicit</span> <a class="code hl_function" href="a03980.html#ad4220161208c55a3e426b0b078567a4b">Scatter</a>(<span class="keyword">const</span> <a class="code hl_class" href="a03744.html">GaussianFactorGraph</a>& gfg);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> GTSAM_EXPORT <span class="keyword">explicit</span> <a class="code hl_function" href="a03980.html#ad4220161208c55a3e426b0b078567a4b">Scatter</a>(<span class="keyword">const</span> <a class="code hl_class" href="a03744.html">GaussianFactorGraph</a>& gfg, <span class="keyword">const</span> <a class="code hl_class" href="a03632.html">Ordering</a>& ordering);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> GTSAM_EXPORT <span class="keywordtype">void</span> <a class="code hl_function" href="a03980.html#a513b73f7ed08f72f79c1362d8959eb9a">add</a>(<a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> key, <span class="keywordtype">size_t</span> dim);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">private</span>:</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> iterator find(<a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> key);</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>};</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span>} <span class="comment">// \ namespace gtsam</span></div>
<div class="ttc" id="aa00047_html"><div class="ttname"><a href="a00047.html">FastMap.h</a></div><div class="ttdoc">A thin wrapper around std::map that uses boost's fast_pool_allocator.</div></div>
<div class="ttc" id="aa00491_html"><div class="ttname"><a href="a00491.html">Key.h</a></div></div>
<div class="ttc" id="aa01596_html"><div class="ttname"><a href="a01596.html">gtsam</a></div><div class="ttdoc">Global functions in a separate testing namespace.</div><div class="ttdef"><b>Definition:</b> chartTesting.h:28</div></div>
<div class="ttc" id="aa01596_html_adad029f5f6ffce610428b5fe768b0df2"><div class="ttname"><a href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div class="ttdeci">std::uint64_t Key</div><div class="ttdoc">Integer nonlinear key type.</div><div class="ttdef"><b>Definition:</b> types.h:69</div></div>
<div class="ttc" id="aa03632_html"><div class="ttname"><a href="a03632.html">gtsam::Ordering</a></div><div class="ttdef"><b>Definition:</b> Ordering.h:34</div></div>
<div class="ttc" id="aa03744_html"><div class="ttname"><a href="a03744.html">gtsam::GaussianFactorGraph</a></div><div class="ttdoc">A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.</div><div class="ttdef"><b>Definition:</b> GaussianFactorGraph.h:69</div></div>
<div class="ttc" id="aa03976_html"><div class="ttname"><a href="a03976.html">gtsam::SlotEntry</a></div><div class="ttdoc">One SlotEntry stores the slot index for a variable, as well its dim.</div><div class="ttdef"><b>Definition:</b> Scatter.h:32</div></div>
<div class="ttc" id="aa03980_html"><div class="ttname"><a href="a03980.html">gtsam::Scatter</a></div><div class="ttdoc">Scatter is an intermediate data structure used when building a HessianFactor incrementally,...</div><div class="ttdef"><b>Definition:</b> Scatter.h:49</div></div>
<div class="ttc" id="aa03980_html_a513b73f7ed08f72f79c1362d8959eb9a"><div class="ttname"><a href="a03980.html#a513b73f7ed08f72f79c1362d8959eb9a">gtsam::Scatter::add</a></div><div class="ttdeci">GTSAM_EXPORT void add(Key key, size_t dim)</div><div class="ttdoc">Add a key/dim pair.</div><div class="ttdef"><b>Definition:</b> Scatter.cpp:76</div></div>
<div class="ttc" id="aa03980_html_ad4220161208c55a3e426b0b078567a4b"><div class="ttname"><a href="a03980.html#ad4220161208c55a3e426b0b078567a4b">gtsam::Scatter::Scatter</a></div><div class="ttdeci">GTSAM_EXPORT Scatter()</div><div class="ttdoc">Default Constructor.</div><div class="ttdef"><b>Definition:</b> Scatter.h:52</div></div>
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