/*
 * CSP.h
 * @brief Constraint Satisfaction Problem class
 * @date Feb 6, 2012
 * @author Frank Dellaert
 */

#pragma once

#include <gtsam_unstable/discrete/AllDiff.h>
#include <gtsam_unstable/discrete/SingleValue.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>

namespace gtsam {

  /**
   * Constraint Satisfaction Problem class
   * A specialization of a DiscreteFactorGraph.
   * It knows about CSP-specific constraints and algorithms
   */
  class GTSAM_UNSTABLE_EXPORT CSP: public DiscreteFactorGraph {
  public:

    /** A map from keys to values */
    typedef KeyVector Indices;
    typedef Assignment<Key> Values;
    typedef boost::shared_ptr<Values> sharedValues;

  public:

//    /// Constructor
//    CSP() {
//    }

    /// Add a unary constraint, allowing only a single value
    void addSingleValue(const DiscreteKey& dkey, size_t value) {
      boost::shared_ptr<SingleValue> factor(new SingleValue(dkey, value));
      push_back(factor);
    }

    /// Add a binary AllDiff constraint
    void addAllDiff(const DiscreteKey& key1, const DiscreteKey& key2) {
      boost::shared_ptr<BinaryAllDiff> factor(
          new BinaryAllDiff(key1, key2));
      push_back(factor);
    }

    /// Add a general AllDiff constraint
    void addAllDiff(const DiscreteKeys& dkeys) {
      boost::shared_ptr<AllDiff> factor(new AllDiff(dkeys));
      push_back(factor);
    }

//    /** return product of all factors as a single factor */
//    DecisionTreeFactor product() const {
//      DecisionTreeFactor result;
//      for(const sharedFactor& factor: *this)
//        if (factor) result = (*factor) * result;
//      return result;
//    }

    /// Find the best total assignment - can be expensive
    sharedValues optimalAssignment(OptionalOrdering ordering = boost::none) const;

//    /*
//     * Perform loopy belief propagation
//     * True belief propagation would check for each value in domain
//     * whether any satisfying separator assignment can be found.
//     * This corresponds to hyper-arc consistency in CSP speak.
//     * This can be done by creating a mini-factor graph and search.
//     * For a nine-by-nine Sudoku, the search tree will be 8+6+6=20 levels deep.
//     * It will be very expensive to exclude values that way.
//     */
//     void applyBeliefPropagation(size_t nrIterations = 10) const;

    /*
     * Apply arc-consistency ~ Approximate loopy belief propagation
     * We need to give the domains to a constraint, and it returns
     * a domain whose values don't conflict in the arc-consistency way.
     * TODO: should get cardinality from Indices
     */
    void runArcConsistency(size_t cardinality, size_t nrIterations = 10,
        bool print = false) const;
  }; // CSP

} // gtsam