| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: keir@google.com (Keir Mierle) |
| // |
| // Originally by Anton Carver |
| |
| #ifndef CERES_INTERNAL_MAP_UTIL_H_ |
| #define CERES_INTERNAL_MAP_UTIL_H_ |
| |
| #include <utility> |
| |
| #include "ceres/internal/export.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| |
| // Perform a lookup in a map or hash_map, assuming that the key exists. |
| // Crash if it does not. |
| // |
| // This is intended as a replacement for operator[] as an rvalue (for reading) |
| // when the key is guaranteed to exist. |
| // |
| // operator[] is discouraged for several reasons: |
| // * It has a side-effect of inserting missing keys |
| // * It is not thread-safe (even when it is not inserting, it can still |
| // choose to resize the underlying storage) |
| // * It invalidates iterators (when it chooses to resize) |
| // * It default constructs a value object even if it doesn't need to |
| // |
| // This version assumes the key is printable, and includes it in the fatal log |
| // message. |
| template <class Collection> |
| const typename Collection::value_type::second_type& FindOrDie( |
| const Collection& collection, |
| const typename Collection::value_type::first_type& key) { |
| typename Collection::const_iterator it = collection.find(key); |
| CHECK(it != collection.end()) << "Map key not found: " << key; |
| return it->second; |
| } |
| |
| // Perform a lookup in a map or hash_map. |
| // If the key is present in the map then the value associated with that |
| // key is returned, otherwise the value passed as a default is returned. |
| template <class Collection> |
| const typename Collection::value_type::second_type FindWithDefault( |
| const Collection& collection, |
| const typename Collection::value_type::first_type& key, |
| const typename Collection::value_type::second_type& value) { |
| typename Collection::const_iterator it = collection.find(key); |
| if (it == collection.end()) { |
| return value; |
| } |
| return it->second; |
| } |
| |
| // Insert a new key and value into a map or hash_map. |
| // If the key is not present in the map the key and value are |
| // inserted, otherwise nothing happens. True indicates that an insert |
| // took place, false indicates the key was already present. |
| template <class Collection> |
| bool InsertIfNotPresent( |
| Collection* const collection, |
| const typename Collection::value_type::first_type& key, |
| const typename Collection::value_type::second_type& value) { |
| std::pair<typename Collection::iterator, bool> ret = |
| collection->insert(typename Collection::value_type(key, value)); |
| return ret.second; |
| } |
| |
| // Perform a lookup in a map or hash_map. |
| // Same as above but the returned pointer is not const and can be used to change |
| // the stored value. |
| template <class Collection> |
| typename Collection::value_type::second_type* FindOrNull( |
| Collection& collection, // NOLINT |
| const typename Collection::value_type::first_type& key) { |
| typename Collection::iterator it = collection.find(key); |
| if (it == collection.end()) { |
| return 0; |
| } |
| return &it->second; |
| } |
| |
| // Test to see if a set, map, hash_set or hash_map contains a particular key. |
| // Returns true if the key is in the collection. |
| template <class Collection, class Key> |
| bool ContainsKey(const Collection& collection, const Key& key) { |
| typename Collection::const_iterator it = collection.find(key); |
| return it != collection.end(); |
| } |
| |
| // Inserts a new key/value into a map or hash_map. |
| // Dies if the key is already present. |
| template <class Collection> |
| void InsertOrDie(Collection* const collection, |
| const typename Collection::value_type::first_type& key, |
| const typename Collection::value_type::second_type& data) { |
| using value_type = typename Collection::value_type; |
| CHECK(collection->insert(value_type(key, data)).second) |
| << "duplicate key: " << key; |
| } |
| |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_MAP_UTIL_H_ |