103 lines
2.8 KiB
C++
103 lines
2.8 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 Constraint.h
|
|
* @date May 15, 2012
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/discrete/DiscreteFactor.h>
|
|
#include <gtsam/discrete/DiscreteValues.h>
|
|
#include <gtsam_unstable/dllexport.h>
|
|
|
|
#include <boost/format.hpp>
|
|
#include <map>
|
|
|
|
namespace gtsam {
|
|
|
|
class Domain;
|
|
using Domains = std::map<Key, Domain>;
|
|
|
|
/**
|
|
* Base class for constraint factors
|
|
* Derived classes include SingleValue, BinaryAllDiff, and AllDiff.
|
|
*/
|
|
class GTSAM_UNSTABLE_EXPORT Constraint : public DiscreteFactor {
|
|
public:
|
|
typedef boost::shared_ptr<Constraint> shared_ptr;
|
|
|
|
protected:
|
|
/// Construct unary constraint factor.
|
|
Constraint(Key j) : DiscreteFactor(KeyVector{j}) {}
|
|
|
|
/// Construct binary constraint factor.
|
|
Constraint(Key j1, Key j2) : DiscreteFactor(KeyVector{j1, j2}) {}
|
|
|
|
/// Construct n-way constraint factor.
|
|
Constraint(const KeyVector& js) : DiscreteFactor(js) {}
|
|
|
|
/// construct from container
|
|
template <class KeyIterator>
|
|
Constraint(KeyIterator beginKey, KeyIterator endKey)
|
|
: DiscreteFactor(beginKey, endKey) {}
|
|
|
|
public:
|
|
/// @name Standard Constructors
|
|
/// @{
|
|
|
|
/// Default constructor for I/O
|
|
Constraint();
|
|
|
|
/// Virtual destructor
|
|
~Constraint() override {}
|
|
|
|
/// @}
|
|
/// @name Standard Interface
|
|
/// @{
|
|
|
|
/*
|
|
* Ensure Arc-consistency by checking every possible value of domain j.
|
|
* @param j domain to be checked
|
|
* @param (in/out) domains all domains, but only domains->at(j) will be checked.
|
|
* @return true if domains->at(j) was changed, false otherwise.
|
|
*/
|
|
virtual bool ensureArcConsistency(Key j, Domains* domains) const = 0;
|
|
|
|
/// Partially apply known values
|
|
virtual shared_ptr partiallyApply(const DiscreteValues&) const = 0;
|
|
|
|
/// Partially apply known values, domain version
|
|
virtual shared_ptr partiallyApply(const Domains&) const = 0;
|
|
/// @}
|
|
/// @name Wrapper support
|
|
/// @{
|
|
|
|
/// Render as markdown table.
|
|
std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
|
|
const Names& names = {}) const override {
|
|
return (boost::format("`Constraint` on %1% variables\n") % (size())).str();
|
|
}
|
|
|
|
/// Render as html table.
|
|
std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
|
|
const Names& names = {}) const override {
|
|
return (boost::format("<p>Constraint on %1% variables</p>") % (size())).str();
|
|
}
|
|
|
|
/// @}
|
|
};
|
|
// DiscreteFactor
|
|
|
|
} // namespace gtsam
|