73 lines
1.9 KiB
C++
73 lines
1.9 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file DiscreteKey.h
|
|
* @brief specialized key for discrete variables
|
|
* @author Frank Dellaert
|
|
* @date Feb 28, 2011
|
|
*/
|
|
|
|
#include <iostream>
|
|
#include <boost/format.hpp> // for key names
|
|
#include "DiscreteKey.h"
|
|
|
|
namespace gtsam {
|
|
|
|
using namespace std;
|
|
|
|
DiscreteKeys::DiscreteKeys(const vector<int>& cs) {
|
|
for (size_t i = 0; i < cs.size(); i++) {
|
|
string name = boost::str(boost::format("v%1%") % i);
|
|
push_back(DiscreteKey(i, cs[i]));
|
|
}
|
|
}
|
|
|
|
KeyVector DiscreteKeys::indices() const {
|
|
KeyVector js;
|
|
for (const DiscreteKey& key : *this) js.push_back(key.first);
|
|
return js;
|
|
}
|
|
|
|
map<Key, size_t> DiscreteKeys::cardinalities() const {
|
|
map<Key, size_t> cs;
|
|
cs.insert(begin(), end());
|
|
return cs;
|
|
}
|
|
|
|
DiscreteKeys operator&(const DiscreteKey& key1, const DiscreteKey& key2) {
|
|
DiscreteKeys keys(key1);
|
|
return keys & key2;
|
|
}
|
|
|
|
void DiscreteKeys::print(const std::string& s,
|
|
const KeyFormatter& keyFormatter) const {
|
|
for (auto&& dkey : *this) {
|
|
std::cout << DefaultKeyFormatter(dkey.first) << " " << dkey.second
|
|
<< std::endl;
|
|
}
|
|
}
|
|
|
|
bool DiscreteKeys::equals(const DiscreteKeys& other, double tol) const {
|
|
if (this->size() != other.size()) {
|
|
return false;
|
|
}
|
|
|
|
for (size_t i = 0; i < this->size(); i++) {
|
|
if (this->at(i).first != other.at(i).first ||
|
|
this->at(i).second != other.at(i).second) {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
}
|