1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
12/**
13 * @file FastSet.h
14 * @brief A thin wrapper around std::set that uses boost's fast_pool_allocator.
15 * @author Richard Roberts
16 * @date Oct 17, 2010
17 */
18
19#pragma once
20
21#include <gtsam/config.h>
22
23#if GTSAM_ENABLE_BOOST_SERIALIZATION
24#include <boost/version.hpp>
25#if BOOST_VERSION >= 107400
26#include <boost/serialization/library_version_type.hpp>
27#endif
28#include <boost/serialization/nvp.hpp>
29#include <boost/serialization/set.hpp>
30#endif
31#include <gtsam/base/FastDefaultAllocator.h>
32#include <gtsam/base/Testable.h>
33
34#include <functional>
35#include <set>
36
37namespace boost {
38namespace serialization {
39class access;
40} /* namespace serialization */
41} /* namespace boost */
42
43namespace gtsam {
44
45/**
46 * FastSet is a thin wrapper around std::set that uses the boost
47 * fast_pool_allocator instead of the default STL allocator. This is just a
48 * convenience to avoid having lengthy types in the code. Through timing,
49 * we've seen that the fast_pool_allocator can lead to speedups of several %.
50 * @ingroup base
51 */
52template<typename VALUE>
53class FastSet: public std::set<VALUE, std::less<VALUE>,
54 typename internal::FastDefaultAllocator<VALUE>::type> {
55
56 GTSAM_CONCEPT_ASSERT(IsTestable<VALUE>);
57
58public:
59
60 typedef std::set<VALUE, std::less<VALUE>,
61 typename internal::FastDefaultAllocator<VALUE>::type> Base;
62
63 using Base::Base; // Inherit the set constructors
64
65 FastSet() = default; ///< Default constructor
66
67 /** Constructor from a iterable container, passes through to base class */
68 template<typename INPUTCONTAINER>
69 explicit FastSet(const INPUTCONTAINER& container) :
70 Base(container.begin(), container.end()) {
71 }
72
73 /** Copy constructor from another FastSet */
74 FastSet(const FastSet<VALUE>& x) :
75 Base(x) {
76 }
77
78 /** Copy constructor from the base set class */
79 FastSet(const Base& x) :
80 Base(x) {
81 }
82
83 FastSet& operator=(const FastSet& other) = default;
84
85#ifdef GTSAM_ALLOCATOR_BOOSTPOOL
86 /** Copy constructor from a standard STL container */
87 FastSet(const std::set<VALUE>& x) {
88 // This if statement works around a bug in boost pool allocator and/or
89 // STL vector where if the size is zero, the pool allocator will allocate
90 // huge amounts of memory.
91 if(x.size() > 0)
92 Base::insert(x.begin(), x.end());
93 }
94#endif
95
96 /** Conversion to a standard STL container */
97 operator std::set<VALUE>() const {
98 return std::set<VALUE>(this->begin(), this->end());
99 }
100
101 /** Handy 'exists' function */
102 bool exists(const VALUE& e) const {
103 return this->find(e) != this->end();
104 }
105
106 /** Print to implement Testable: pretty basic */
107 void print(const std::string& str = "") const {
108 for (typename Base::const_iterator it = this->begin(); it != this->end(); ++it)
109 traits<VALUE>::Print(*it, str);
110 }
111
112 /** Check for equality within tolerance to implement Testable */
113 bool equals(const FastSet<VALUE>& other, double tol = 1e-9) const {
114 typename Base::const_iterator it1 = this->begin(), it2 = other.begin();
115 while (it1 != this->end()) {
116 if (it2 == other.end() || !traits<VALUE>::Equals(*it2, *it2, tol))
117 return false;
118 ++it1;
119 ++it2;
120 }
121 return true;
122 }
123
124 /** insert another set: handy for MATLAB access */
125 void merge(const FastSet& other) {
126 Base::insert(other.begin(), other.end());
127 }
128
129private:
130#if GTSAM_ENABLE_BOOST_SERIALIZATION
131 /** Serialization function */
132 friend class boost::serialization::access;
133 template<class ARCHIVE>
134 void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
135 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
136 }
137#endif
138};
139
140}
141