84 lines
2.1 KiB
C++
84 lines
2.1 KiB
C++
/*
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* SingleValue.h
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* @brief domain 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/Constraint.h>
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#include <gtsam/discrete/DiscreteKey.h>
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namespace gtsam {
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/**
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* SingleValue constraint
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*/
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class GTSAM_UNSTABLE_EXPORT SingleValue: public Constraint {
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/// Number of values
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size_t cardinality_;
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/// allowed value
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size_t value_;
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DiscreteKey discreteKey() const {
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return DiscreteKey(keys_[0],cardinality_);
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}
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public:
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typedef boost::shared_ptr<SingleValue> shared_ptr;
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/// Constructor
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SingleValue(Key key, size_t n, size_t value) :
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Constraint(key), cardinality_(n), value_(value) {
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}
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/// Constructor
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SingleValue(const DiscreteKey& dkey, size_t value) :
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Constraint(dkey.first), cardinality_(dkey.second), value_(value) {
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}
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// print
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virtual void print(const std::string& s = "",
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const KeyFormatter& formatter = DefaultKeyFormatter) const;
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/// equals
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bool equals(const DiscreteFactor& other, double tol) const {
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if(!dynamic_cast<const SingleValue*>(&other))
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return false;
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else {
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const SingleValue& f(static_cast<const SingleValue&>(other));
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return (cardinality_==f.cardinality_) && (value_==f.value_);
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}
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}
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/// Calculate value
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virtual double operator()(const Values& values) const;
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/// Convert into a decisiontree
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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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* @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(
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const Values& values) const;
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/// Partially apply known values, domain version
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virtual Constraint::shared_ptr partiallyApply(
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const std::vector<Domain>& domains) const;
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};
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} // namespace gtsam
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