95 lines
3.4 KiB
C++
95 lines
3.4 KiB
C++
/*
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* Domain.cpp
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* @brief Domain restriction constraint
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* @date Feb 13, 2012
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* @author Frank Dellaert
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*/
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#include <gtsam_unstable/discrete/Domain.h>
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#include <gtsam/discrete/DecisionTreeFactor.h>
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#include <gtsam/base/Testable.h>
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#include <boost/make_shared.hpp>
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namespace gtsam {
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using namespace std;
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/* ************************************************************************* */
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void Domain::print(const string& s,
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const KeyFormatter& formatter) const {
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cout << s << ": Domain on " << formatter(keys_[0]) << " (j=" <<
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formatter(keys_[0]) << ") with values";
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for (size_t v: values_) cout << " " << v;
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cout << endl;
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}
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/* ************************************************************************* */
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double Domain::operator()(const Values& values) const {
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return contains(values.at(keys_[0]));
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}
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/* ************************************************************************* */
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DecisionTreeFactor Domain::toDecisionTreeFactor() const {
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DiscreteKeys keys;
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keys += DiscreteKey(keys_[0],cardinality_);
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vector<double> table;
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for (size_t i1 = 0; i1 < cardinality_; ++i1)
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table.push_back(contains(i1));
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DecisionTreeFactor converted(keys, table);
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return converted;
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}
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/* ************************************************************************* */
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DecisionTreeFactor Domain::operator*(const DecisionTreeFactor& f) const {
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// TODO: can we do this more efficiently?
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return toDecisionTreeFactor() * f;
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}
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/* ************************************************************************* */
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bool Domain::ensureArcConsistency(size_t j, vector<Domain>* domains) const {
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if (j != keys_[0]) throw invalid_argument("Domain check on wrong domain");
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Domain& D = domains->at(j);
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for(size_t value: values_)
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if (!D.contains(value)) throw runtime_error("Unsatisfiable");
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D = *this;
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return true;
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}
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/* ************************************************************************* */
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boost::optional<Domain> Domain::checkAllDiff(
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const KeyVector keys, const vector<Domain>& domains) const {
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Key j = keys_[0];
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// for all values in this domain
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for (const size_t value : values_) {
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// for all connected domains
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for (const Key k : keys)
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// if any domain contains the value we cannot make this domain singleton
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if (k != j && domains[k].contains(value)) goto found;
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// Otherwise: return a singleton:
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return Domain(this->discreteKey(), value);
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found:;
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}
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return boost::none; // we did not change it
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}
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/* ************************************************************************* */
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Constraint::shared_ptr Domain::partiallyApply(
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const Values& values) const {
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Values::const_iterator it = values.find(keys_[0]);
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if (it != values.end() && !contains(it->second)) throw runtime_error(
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"Domain::partiallyApply: unsatisfiable");
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return boost::make_shared < Domain > (*this);
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}
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/* ************************************************************************* */
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Constraint::shared_ptr Domain::partiallyApply(
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const vector<Domain>& domains) const {
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const Domain& Dk = domains[keys_[0]];
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if (Dk.isSingleton() && !contains(*Dk.begin())) throw runtime_error(
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"Domain::partiallyApply: unsatisfiable");
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return boost::make_shared < Domain > (Dk);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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