Key.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/base/FastList.h>
#include <gtsam/base/FastMap.h>
#include <gtsam/base/FastSet.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/types.h>
#include <gtsam/dllexport.h>

#include <functional>

#include <iosfwd>

namespace gtsam {

using KeyFormatter = std::function<std::string(Key)>;

// Helper function for DefaultKeyFormatter
GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);

static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;

// Helper function for Multi-robot Key Formatter
GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);

static const gtsam::KeyFormatter MultiRobotKeyFormatter =
    &_multirobotKeyFormatter;

struct StreamedKey {
  const Key &key_;
  explicit StreamedKey(const Key &key) : key_(key) {}
  GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &, const StreamedKey &);
};

class key_formatter {
 public:
  explicit key_formatter(KeyFormatter v) : formatter_(v) {}
  GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &, const key_formatter &);
  GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &, const StreamedKey &);

 private:
  KeyFormatter formatter_;
  static void *&property(std::ios_base &s);
  static void set_property(std::ios_base &s, const KeyFormatter &f);
  static KeyFormatter *get_property(std::ios_base &s);
};

using KeyVector = FastVector<Key>;

// TODO(frank): Nothing fast about these :-(
using KeyList = FastList<Key>;
using KeySet = FastSet<Key>;
using KeyGroupMap = FastMap<Key, int>;

GTSAM_EXPORT void PrintKey(
    Key key, const std::string &s = "",
    const KeyFormatter &keyFormatter = DefaultKeyFormatter);

GTSAM_EXPORT void PrintKeyList(
    const KeyList &keys, const std::string &s = "",
    const KeyFormatter &keyFormatter = DefaultKeyFormatter);

GTSAM_EXPORT void PrintKeyVector(
    const KeyVector &keys, const std::string &s = "",
    const KeyFormatter &keyFormatter = DefaultKeyFormatter);

GTSAM_EXPORT void PrintKeySet(
    const KeySet &keys, const std::string &s = "",
    const KeyFormatter &keyFormatter = DefaultKeyFormatter);

// Define Key to be Testable by specializing gtsam::traits
template<typename T> struct traits;

template <>
struct traits<Key> {
  static void Print(const Key& val, const std::string& str = "") {
    PrintKey(val, str);
  }
  static bool Equals(const Key& val1, const Key& val2, double tol = 1e-8) {
    return val1 == val2;
  }
};

} // namespace gtsam