THypothesis_impl.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef THYPOTHESIS_IMPL_H
#define THYPOTHESIS_IMPL_H

// implementation file for the THypothesis struct template

namespace mrpt
{
namespace graphs
{
namespace detail
{
template <class GRAPH_T>
THypothesis<GRAPH_T>::THypothesis() : is_valid(true), goodness(0)
{
}

template <class GRAPH_T>
THypothesis<GRAPH_T>::~THypothesis()
{
}

template <class GRAPH_T>
std::string THypothesis<GRAPH_T>::getAsString(bool oneline /*=true*/) const
{
        std::string str;
        this->getAsString(&str, oneline);
        return str;
}

template <class GRAPH_T>
void THypothesis<GRAPH_T>::getAsString(
        std::string* str, bool oneline /*=true*/) const
{
        ASSERTMSG_(str, "Given string pointer is not valid");

        using namespace std;

        stringstream ss;
        if (!oneline)
        {  // multiline report
                ss << "Hypothesis #" << id << endl;
                ss << from << " => " << to << endl;
                ss << edge << endl;
        }
        else
        {
                ss << "Hypothesis #" << id << "| ";
                ss << from << " => " << to << "| ";
                ss << edge.getMeanVal().asString();
                ss << "|goodness: " << goodness;
                ss << "|valid: " << is_valid;
        }

        *str = ss.str();
}

// TODO - test these
template <class GRAPH_T>
bool THypothesis<GRAPH_T>::sameEndsWith(const self_t& other) const
{
        return (this->from == other.from && this->to == other.to);
}

template <class GRAPH_T>
bool THypothesis<GRAPH_T>::hasEnds(
        mrpt::utils::TNodeID from_in, mrpt::utils::TNodeID to_in) const
{
        return (this->from == from_in && this->to == to_in);
}

template <class GRAPH_T>
void THypothesis<GRAPH_T>::getEdge(constraint_t* edge) const
{
        ASSERT_(edge);
        edge->copyFrom(this->edge);
}

template <class GRAPH_T>
typename GRAPH_T::constraint_t THypothesis<GRAPH_T>::getEdge() const
{
        return this->edge;
}

template <class GRAPH_T>
void THypothesis<GRAPH_T>::setEdge(const constraint_t& edge)
{
        this->edge.copyFrom(edge);
}

template <class GRAPH_T>
void THypothesis<GRAPH_T>::getInverseEdge(constraint_t* edge) const
{
        ASSERT_(edge);
        this->edge.inverse(*edge);
}

template <class GRAPH_T>
typename GRAPH_T::constraint_t THypothesis<GRAPH_T>::getInverseEdge() const
{
        constraint_t inverse_edge;
        this->getInverseEdge(&inverse_edge);

        return inverse_edge;
}

template <class GRAPH_T>
void THypothesis<GRAPH_T>::inverseHypothesis()
{
        // inverse the start/end nodes
        mrpt::utils::TNodeID tmp = from;
        from = to;
        to = tmp;

        // inverse the edge
        constraint_t edge_tmp = this->getInverseEdge();
        this->edge.copyFrom(edge_tmp);
}

template <class GRAPH_T>
bool THypothesis<GRAPH_T>::operator<(const self_t& other) const
{
        return this->id < other.id;
}
}
}
}  // end of namespaces

#endif /* end of include guard: THYPOTHESIS_IMPL_H */