136 lines
3.8 KiB
C++
136 lines
3.8 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Constraint.h
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* @date May 15, 2012
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* @author Frank Dellaert
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*/
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#pragma once
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#include <gtsam/discrete/DiscreteFactor.h>
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#include <gtsam/discrete/DiscreteValues.h>
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#include <gtsam_unstable/dllexport.h>
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#include <map>
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namespace gtsam {
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class Domain;
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using Domains = std::map<Key, Domain>;
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/**
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* Base class for constraint factors
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* Derived classes include SingleValue, BinaryAllDiff, and AllDiff.
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*/
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class GTSAM_UNSTABLE_EXPORT Constraint : public DiscreteFactor {
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public:
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typedef std::shared_ptr<Constraint> shared_ptr;
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protected:
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/// Construct unary constraint factor.
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Constraint(Key j) : DiscreteFactor(KeyVector{j}) {}
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/// Construct binary constraint factor.
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Constraint(Key j1, Key j2) : DiscreteFactor(KeyVector{j1, j2}) {}
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/// Construct n-way constraint factor.
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Constraint(const KeyVector& js) : DiscreteFactor(js) {}
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/// construct from container
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template <class KeyIterator>
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Constraint(KeyIterator beginKey, KeyIterator endKey)
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: DiscreteFactor(beginKey, endKey) {}
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public:
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/// @name Standard Constructors
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/// @{
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/// Default constructor for I/O
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Constraint();
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/// Virtual destructor
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~Constraint() override {}
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/// @}
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/// @name Standard Interface
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/// @{
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/*
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* Ensure Arc-consistency by checking every possible value of domain j.
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* @param j domain to be checked
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* @param (in/out) domains all domains, but only domains->at(j) will be
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* checked.
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* @return true if domains->at(j) was changed, false otherwise.
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*/
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virtual bool ensureArcConsistency(Key j, Domains* domains) const = 0;
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/// Partially apply known values
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virtual shared_ptr partiallyApply(const DiscreteValues&) const = 0;
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/// Partially apply known values, domain version
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virtual shared_ptr partiallyApply(const Domains&) const = 0;
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/// Multiply factors, DiscreteFactor::shared_ptr edition
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DiscreteFactor::shared_ptr multiply(
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const DiscreteFactor::shared_ptr& df) const override {
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return std::make_shared<DecisionTreeFactor>(
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this->operator*(df->toDecisionTreeFactor()));
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}
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/// divide by DiscreteFactor::shared_ptr f (safely)
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DiscreteFactor::shared_ptr operator/(
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const DiscreteFactor::shared_ptr& df) const override {
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return this->toDecisionTreeFactor() / df;
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}
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/// Get the number of non-zero values contained in this factor.
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uint64_t nrValues() const override { return 1; };
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DiscreteFactor::shared_ptr sum(size_t nrFrontals) const override {
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return toDecisionTreeFactor().sum(nrFrontals);
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}
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DiscreteFactor::shared_ptr sum(const Ordering& keys) const override {
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return toDecisionTreeFactor().sum(keys);
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}
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DiscreteFactor::shared_ptr max(size_t nrFrontals) const override {
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return toDecisionTreeFactor().max(nrFrontals);
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}
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DiscreteFactor::shared_ptr max(const Ordering& keys) const override {
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return toDecisionTreeFactor().max(keys);
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}
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/// @}
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/// @name Wrapper support
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/// @{
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/// Render as markdown table.
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std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
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const Names& names = {}) const override {
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return "`Constraint` on " + std::to_string(size()) + " variables\n";
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}
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/// Render as html table.
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std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
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const Names& names = {}) const override {
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return "<p>Constraint on " + std::to_string(size()) + " variables</p>";
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}
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/// @}
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};
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// DiscreteFactor
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} // namespace gtsam
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