78 lines
2.4 KiB
C++
78 lines
2.4 KiB
C++
/*
|
|
* SingleValue.h
|
|
* @brief domain constraint
|
|
* @date Feb 6, 2012
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/discrete/DiscreteKey.h>
|
|
#include <gtsam_unstable/discrete/Constraint.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* SingleValue constraint: ensures a variable takes on a certain value.
|
|
* This could of course also be implemented by changing its `Domain`.
|
|
*/
|
|
class GTSAM_UNSTABLE_EXPORT SingleValue : public Constraint {
|
|
size_t cardinality_; /// < Number of values
|
|
size_t value_; ///< allowed value
|
|
|
|
DiscreteKey discreteKey() const {
|
|
return DiscreteKey(keys_[0], cardinality_);
|
|
}
|
|
|
|
public:
|
|
typedef boost::shared_ptr<SingleValue> shared_ptr;
|
|
|
|
/// Construct from key, cardinality, and given value.
|
|
SingleValue(Key key, size_t n, size_t value)
|
|
: Constraint(key), cardinality_(n), value_(value) {}
|
|
|
|
/// Construct from DiscreteKey and given value.
|
|
SingleValue(const DiscreteKey& dkey, size_t value)
|
|
: Constraint(dkey.first), cardinality_(dkey.second), value_(value) {}
|
|
|
|
// print
|
|
void print(const std::string& s = "", const KeyFormatter& formatter =
|
|
DefaultKeyFormatter) const override;
|
|
|
|
/// equals
|
|
bool equals(const DiscreteFactor& other, double tol) const override {
|
|
if (!dynamic_cast<const SingleValue*>(&other))
|
|
return false;
|
|
else {
|
|
const SingleValue& f(static_cast<const SingleValue&>(other));
|
|
return (cardinality_ == f.cardinality_) && (value_ == f.value_);
|
|
}
|
|
}
|
|
|
|
/// Calculate value
|
|
double operator()(const DiscreteValues& values) const override;
|
|
|
|
/// Convert into a decisiontree
|
|
DecisionTreeFactor toDecisionTreeFactor() const override;
|
|
|
|
/// Multiply into a decisiontree
|
|
DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
|
|
|
|
/*
|
|
* Ensure Arc-consistency: just sets domain[j] to {value_}.
|
|
* @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.
|
|
*/
|
|
bool ensureArcConsistency(Key j, Domains* domains) const override;
|
|
|
|
/// Partially apply known values
|
|
Constraint::shared_ptr partiallyApply(const DiscreteValues& values) const override;
|
|
|
|
/// Partially apply known values, domain version
|
|
Constraint::shared_ptr partiallyApply(
|
|
const Domains& domains) const override;
|
|
};
|
|
|
|
} // namespace gtsam
|