replace upsert with insert_or_assign

borglab · Dec 15, 2021 · 96652ca · 96652ca
1 parent 8c3ce25
commit 96652ca
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Showing 5 changed files with 48 additions and 44 deletions.
diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h
@@ -391,10 +391,10 @@ namespace gtsam {
     update(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
   }
 
-  // upsert with templated value
+  // insert_or_assign with templated value
   template <typename ValueType>
-  void Values::upsert(Key j, const ValueType& val) {
-    upsert(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
+  void Values::insert_or_assign(Key j, const ValueType& val) {
+    insert_or_assign(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
   }
 
 }
diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
@@ -171,8 +171,8 @@ namespace gtsam {
     }
   }
 
-  /* ************************************************************************* */
-  void Values::upsert(Key j, const Value& val) {
+  /* ************************************************************************ */
+  void Values::insert_or_assign(Key j, const Value& val) {
     if (this->exists(j)) {
       // If key already exists, perform an update.
       this->update(j, val);
@@ -182,10 +182,11 @@ namespace gtsam {
     }
   }
 
-  /* ************************************************************************* */
-  void Values::upsert(const Values& values) {
-    for(const_iterator key_value = values.begin(); key_value != values.end(); ++key_value) {
-      this->upsert(key_value->key, key_value->value);
+  /* ************************************************************************ */
+  void Values::insert_or_assign(const Values& values) {
+    for (const_iterator key_value = values.begin(); key_value != values.end();
+         ++key_value) {
+      this->insert_or_assign(key_value->key, key_value->value);
     }
   }
 

diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
@@ -285,15 +285,18 @@ namespace gtsam {
     /** update the current available values without adding new ones */
     void update(const Values& values);
 
-    /** Update a variable with key j. If j does not exist, then perform an insert. */
-    void upsert(Key j, const Value& val);
+    /// If key j exists, update value, else perform an insert.
+    void insert_or_assign(Key j, const Value& val);
 
-    /** Update a set of variables. If any variable key doe not exist, then perform an insert. */
-    void upsert(const Values& values);
+    /**
+     * Update a set of variables.
+     * If any variable key doe not exist, then perform an insert.
+     */
+    void insert_or_assign(const Values& values);
 
-    /** Templated version to upsert (update/insert) a variable with the given j. */
+    /// Templated version to insert_or_assign a variable with the given j.
     template <typename ValueType>
-    void upsert(Key j, const ValueType& val);
+    void insert_or_assign(Key j, const ValueType& val);
 
     /** Remove a variable from the config, throws KeyDoesNotExist<J> if j is not present */
     void erase(Key j);

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
@@ -275,7 +275,7 @@ class Values {
 
   void insert(const gtsam::Values& values);
   void update(const gtsam::Values& values);
-  void upsert(const gtsam::Values& values);
+  void insert_or_assign(const gtsam::Values& values);
   void erase(size_t j);
   void swap(gtsam::Values& values);
 
@@ -352,31 +352,31 @@ class Values {
   void update(size_t j, Matrix matrix);
   void update(size_t j, double c);
 
-  void upsert(size_t j, const gtsam::Point2& point2);
-  void upsert(size_t j, const gtsam::Point3& point3);
-  void upsert(size_t j, const gtsam::Rot2& rot2);
-  void upsert(size_t j, const gtsam::Pose2& pose2);
-  void upsert(size_t j, const gtsam::SO3& R);
-  void upsert(size_t j, const gtsam::SO4& Q);
-  void upsert(size_t j, const gtsam::SOn& P);
-  void upsert(size_t j, const gtsam::Rot3& rot3);
-  void upsert(size_t j, const gtsam::Pose3& pose3);
-  void upsert(size_t j, const gtsam::Unit3& unit3);
-  void upsert(size_t j, const gtsam::Cal3_S2& cal3_s2);
-  void upsert(size_t j, const gtsam::Cal3DS2& cal3ds2);
-  void upsert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
-  void upsert(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
-  void upsert(size_t j, const gtsam::Cal3Unified& cal3unified);
-  void upsert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
-  void upsert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
-  void upsert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
-  void upsert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
-  void upsert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
-  void upsert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
-  void upsert(size_t j, const gtsam::NavState& nav_state);
-  void upsert(size_t j, Vector vector);
-  void upsert(size_t j, Matrix matrix);
-  void upsert(size_t j, double c);
+  void insert_or_assign(size_t j, const gtsam::Point2& point2);
+  void insert_or_assign(size_t j, const gtsam::Point3& point3);
+  void insert_or_assign(size_t j, const gtsam::Rot2& rot2);
+  void insert_or_assign(size_t j, const gtsam::Pose2& pose2);
+  void insert_or_assign(size_t j, const gtsam::SO3& R);
+  void insert_or_assign(size_t j, const gtsam::SO4& Q);
+  void insert_or_assign(size_t j, const gtsam::SOn& P);
+  void insert_or_assign(size_t j, const gtsam::Rot3& rot3);
+  void insert_or_assign(size_t j, const gtsam::Pose3& pose3);
+  void insert_or_assign(size_t j, const gtsam::Unit3& unit3);
+  void insert_or_assign(size_t j, const gtsam::Cal3_S2& cal3_s2);
+  void insert_or_assign(size_t j, const gtsam::Cal3DS2& cal3ds2);
+  void insert_or_assign(size_t j, const gtsam::Cal3Bundler& cal3bundler);
+  void insert_or_assign(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
+  void insert_or_assign(size_t j, const gtsam::Cal3Unified& cal3unified);
+  void insert_or_assign(size_t j, const gtsam::EssentialMatrix& essential_matrix);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
+  void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
+  void insert_or_assign(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
+  void insert_or_assign(size_t j, const gtsam::NavState& nav_state);
+  void insert_or_assign(size_t j, Vector vector);
+  void insert_or_assign(size_t j, Matrix matrix);
+  void insert_or_assign(size_t j, double c);
 
   template <T = {gtsam::Point2,
                  gtsam::Point3,

diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
@@ -172,19 +172,19 @@ TEST( Values, update_element )
   CHECK(assert_equal((Vector)v2, cfg.at<Vector3>(key1)));
 }
 
-TEST(Values, upsert) {
+TEST(Values, InsertOrAssign) {
   Values values;
   Key X(0);
   double x = 1;
 
   CHECK(values.size() == 0);
   // This should perform an insert.
-  values.upsert(X, x);
+  values.insert_or_assign(X, x);
   EXPECT(assert_equal(values.at<double>(X), x));
 
   // This should perform an update.
   double y = 2;
-  values.upsert(X, y);
+  values.insert_or_assign(X, y);
   EXPECT(assert_equal(values.at<double>(X), y));
 }