DSFVector.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/global_includes.h>
#include <boost/shared_ptr.hpp>
#include <vector>
#include <set>
#include <map>

namespace gtsam {

class GTSAM_EXPORT DSFBase {

public:
  typedef std::vector<size_t> V; 

private:
  boost::shared_ptr<V> v_;

public:
  DSFBase(const size_t numNodes);

  DSFBase(const boost::shared_ptr<V>& v_in);

  size_t find(size_t key) const;

  void merge(const size_t& i1, const size_t& i2);

  inline size_t findSet(size_t key) const {return find(key);}

  inline void makeUnionInPlace(const size_t& i1, const size_t& i2) {return merge(i1,i2);}
};

class GTSAM_EXPORT DSFVector: public DSFBase {

private:
  std::vector<size_t> keys_; 

public:
  DSFVector(const size_t numNodes);

  DSFVector(const std::vector<size_t>& keys);

  DSFVector(const boost::shared_ptr<V>& v_in, const std::vector<size_t>& keys);

  // all operations below loop over all keys and hence are *at least* O(n)

  bool isSingleton(const size_t& label) const;

  std::set<size_t> set(const size_t& label) const;

  std::map<size_t, std::set<size_t> > sets() const;

  std::map<size_t, std::vector<size_t> > arrays() const;
};

}