66 lines
1.9 KiB
C++
66 lines
1.9 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_unstable/discrete/BinaryAllDiff.h>
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#include <gtsam/discrete/DiscreteKey.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 Index and an Index. 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 AllDiff: public Constraint {
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std::map<Index,size_t> cardinalities_;
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DiscreteKey discreteKey(size_t i) const {
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Index 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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virtual void print(const std::string& s = "",
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const IndexFormatter& formatter = DefaultIndexFormatter) const;
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/// Calculate value = expensive !
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virtual double operator()(const Values& values) const;
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/// Convert into a decisiontree, can be *very* expensive !
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virtual DecisionTreeFactor toDecisionTreeFactor() const;
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/// Multiply into a decisiontree
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virtual DecisionTreeFactor operator*(const DecisionTreeFactor& f) const;
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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, std::vector<Domain>& domains) const;
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/// Partially apply known values
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virtual Constraint::shared_ptr partiallyApply(const Values&) const;
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/// Partially apply known values, domain version
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virtual Constraint::shared_ptr partiallyApply(const std::vector<Domain>&) const;
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};
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} // namespace gtsam
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