From 43544ae194d79e11b96ac4470d50a9ad4aea94cb Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 2 Feb 2025 12:23:27 -0500
Subject: [PATCH] Add restrict

---
 gtsam_unstable/discrete/AllDiff.h       |  5 -----
 gtsam_unstable/discrete/BinaryAllDiff.h |  5 -----
 gtsam_unstable/discrete/Constraint.h    | 11 +++++++++++
 gtsam_unstable/discrete/Domain.h        |  5 -----
 gtsam_unstable/discrete/SingleValue.h   |  5 -----
 5 files changed, 11 insertions(+), 20 deletions(-)

diff --git a/gtsam_unstable/discrete/AllDiff.h b/gtsam_unstable/discrete/AllDiff.h
index 1180abad4..4a36f3883 100644
--- a/gtsam_unstable/discrete/AllDiff.h
+++ b/gtsam_unstable/discrete/AllDiff.h
@@ -53,11 +53,6 @@ class GTSAM_UNSTABLE_EXPORT AllDiff : public Constraint {
   /// Multiply into a decisiontree
   DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
 
-  /// Compute error for each assignment and return as a tree
-  AlgebraicDecisionTree<Key> errorTree() const override {
-    throw std::runtime_error("AllDiff::error not implemented");
-  }
-
   /*
    * Ensure Arc-consistency by checking every possible value of domain j.
    * @param j domain to be checked
diff --git a/gtsam_unstable/discrete/BinaryAllDiff.h b/gtsam_unstable/discrete/BinaryAllDiff.h
index e96bfdfde..97a04f3ca 100644
--- a/gtsam_unstable/discrete/BinaryAllDiff.h
+++ b/gtsam_unstable/discrete/BinaryAllDiff.h
@@ -91,11 +91,6 @@ class BinaryAllDiff : public Constraint {
       const Domains&) const override {
     throw std::runtime_error("BinaryAllDiff::partiallyApply not implemented");
   }
-
-  /// Compute error for each assignment and return as a tree
-  AlgebraicDecisionTree<Key> errorTree() const override {
-    throw std::runtime_error("BinaryAllDiff::error not implemented");
-  }
 };
 
 }  // namespace gtsam
diff --git a/gtsam_unstable/discrete/Constraint.h b/gtsam_unstable/discrete/Constraint.h
index 637cf404e..cb4bcc7cb 100644
--- a/gtsam_unstable/discrete/Constraint.h
+++ b/gtsam_unstable/discrete/Constraint.h
@@ -125,6 +125,17 @@ class GTSAM_UNSTABLE_EXPORT Constraint : public DiscreteFactor {
     return toDecisionTreeFactor().max(keys);
   }
 
+  /// Compute error for each assignment and return as a tree
+  AlgebraicDecisionTree<Key> errorTree() const override {
+    throw std::runtime_error("Constraint::error not implemented");
+  }
+
+  /// Compute error for each assignment and return as a tree
+  DiscreteFactor::shared_ptr restrict(
+      const DiscreteValues& assignment) const override {
+    throw std::runtime_error("Constraint::restrict not implemented");
+  }
+  
   /// @}
   /// @name Wrapper support
   /// @{
diff --git a/gtsam_unstable/discrete/Domain.h b/gtsam_unstable/discrete/Domain.h
index 6ce846201..f9f8a14d6 100644
--- a/gtsam_unstable/discrete/Domain.h
+++ b/gtsam_unstable/discrete/Domain.h
@@ -69,11 +69,6 @@ class GTSAM_UNSTABLE_EXPORT Domain : public Constraint {
     }
   }
 
-  /// Compute error for each assignment and return as a tree
-  AlgebraicDecisionTree<Key> errorTree() const override {
-    throw std::runtime_error("Domain::error not implemented");
-  }
-
   // Return concise string representation, mostly to debug arc consistency.
   // Converts from base 0 to base1.
   std::string base1Str() const;
diff --git a/gtsam_unstable/discrete/SingleValue.h b/gtsam_unstable/discrete/SingleValue.h
index 3df1209b8..30e405c5b 100644
--- a/gtsam_unstable/discrete/SingleValue.h
+++ b/gtsam_unstable/discrete/SingleValue.h
@@ -49,11 +49,6 @@ class GTSAM_UNSTABLE_EXPORT SingleValue : public Constraint {
     }
   }
 
-  /// Compute error for each assignment and return as a tree
-  AlgebraicDecisionTree<Key> errorTree() const override {
-    throw std::runtime_error("SingleValue::error not implemented");
-  }
-
   /// Calculate value
   double evaluate(const Assignment<Key>& values) const override;