1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
|
// 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_
|
