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 <boost/function.hpp>
#include <string>

#include <gtsam/global_includes.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/base/FastList.h>
#include <gtsam/base/FastSet.h>
#include <gtsam/base/FastMap.h>

namespace gtsam {


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

  static const gtsam::KeyFormatter MultiRobotKeyFormatter = &_multirobotKeyFormatter;

  typedef FastList<Key> KeyList;
  typedef FastVector<Key> KeyVector;
  typedef FastSet<Key> KeySet;
  typedef FastMap<Key,int> KeyGroupMap;

  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);
}