78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
/*
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* AllDiff.h
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* @brief General "all-different" constraint
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* @date Feb 6, 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/DiscreteKey.h>
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#include <gtsam_unstable/discrete/BinaryAllDiff.h>
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namespace gtsam {
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/**
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* General AllDiff constraint
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* Returns 1 if values for all keys are different, 0 otherwise
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* DiscreteFactors are all awkward in that they have to store two types of keys:
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* for each variable we have a Key and an Key. In this factor, we
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* keep the Indices locally, and the Indices are stored in IndexFactor.
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*/
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class GTSAM_UNSTABLE_EXPORT AllDiff : public Constraint {
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std::map<Key, size_t> cardinalities_;
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DiscreteKey discreteKey(size_t i) const {
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Key j = keys_[i];
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return DiscreteKey(j, cardinalities_.at(j));
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}
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public:
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/// Constructor
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AllDiff(const DiscreteKeys& dkeys);
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// print
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void print(const std::string& s = "", const KeyFormatter& formatter =
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DefaultKeyFormatter) const override;
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/// equals
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bool equals(const DiscreteFactor& other, double tol) const override {
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if (!dynamic_cast<const AllDiff*>(&other))
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return false;
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else {
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const AllDiff& f(static_cast<const AllDiff&>(other));
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return cardinalities_.size() == f.cardinalities_.size() &&
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std::equal(cardinalities_.begin(), cardinalities_.end(),
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f.cardinalities_.begin());
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}
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}
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/// Calculate value = expensive !
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double operator()(const Values& values) const override;
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/// Convert into a decisiontree, can be *very* expensive !
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DecisionTreeFactor toDecisionTreeFactor() const override;
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/// Multiply into a decisiontree
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DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
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/*
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* Ensure Arc-consistency
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* Arc-consistency involves creating binaryAllDiff constraints
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* In which case the combinatorial hyper-arc explosion disappears.
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* @param j domain to be checked
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* @param domains all other domains
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*/
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bool ensureArcConsistency(size_t j,
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std::vector<Domain>& domains) const override;
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/// Partially apply known values
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Constraint::shared_ptr partiallyApply(const Values&) const override;
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/// Partially apply known values, domain version
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Constraint::shared_ptr partiallyApply(
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const std::vector<Domain>&) const override;
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};
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} // namespace gtsam
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