86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Constraint.h
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* @date May 15, 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/DiscreteFactor.h>
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#include <gtsam_unstable/dllexport.h>
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#include <boost/assign.hpp>
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namespace gtsam {
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class Domain;
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/**
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* Base class for constraint factors
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* Derived classes include SingleValue, BinaryAllDiff, and AllDiff.
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*/
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class GTSAM_EXPORT Constraint : public DiscreteFactor {
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public:
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typedef boost::shared_ptr<Constraint> shared_ptr;
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protected:
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/// Construct unary constraint factor.
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Constraint(Key j) : DiscreteFactor(boost::assign::cref_list_of<1>(j)) {}
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/// Construct binary constraint factor.
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Constraint(Key j1, Key j2)
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: DiscreteFactor(boost::assign::cref_list_of<2>(j1)(j2)) {}
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/// Construct n-way constraint factor.
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Constraint(const KeyVector& js) : DiscreteFactor(js) {}
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/// construct from container
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template <class KeyIterator>
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Constraint(KeyIterator beginKey, KeyIterator endKey)
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: DiscreteFactor(beginKey, endKey) {}
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public:
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/// @name Standard Constructors
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/// @{
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/// Default constructor for I/O
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Constraint();
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/// Virtual destructor
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~Constraint() override {}
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/// @}
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/// @name Standard Interface
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/// @{
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/*
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* Ensure Arc-consistency, possibly changing domains of connected variables.
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* @param j domain to be checked
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* @param (in/out) domains all other domains
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* @return true if domains were changed, false otherwise.
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*/
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virtual bool ensureArcConsistency(size_t j,
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std::vector<Domain>* domains) const = 0;
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/// Partially apply known values
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virtual shared_ptr partiallyApply(const Values&) const = 0;
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/// Partially apply known values, domain version
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virtual shared_ptr partiallyApply(const std::vector<Domain>&) const = 0;
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/// @}
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};
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// DiscreteFactor
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} // namespace gtsam
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