Signature.h

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/* ----------------------------------------------------------------------------
 
 * 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
 
 * -------------------------------------------------------------------------- */
 
#pragma once
#include <string>
#include <vector>
#include <optional>
#include <gtsam/discrete/DiscreteKey.h>
 
namespace gtsam {
 
  class GTSAM_EXPORT Signature {
 
  public:
 
    typedef std::vector<double> Row;
    typedef std::vector<Row> Table;
 
  private:
 
    DiscreteKey key_;
 
    DiscreteKeys parents_;
 
    // the given CPT specification string
    std::optional<std::string> spec_;
 
    // the CPT as parsed, if successful
    std::optional<Table> table_;
 
  public:
   Signature(const DiscreteKey& key, const DiscreteKeys& parents,
             const Table& table);
 
   Signature(const DiscreteKey& key, const DiscreteKeys& parents,
             const std::string& spec);
 
   Signature(const DiscreteKey& key);
 
   const DiscreteKey& key() const { return key_; }
 
   const DiscreteKeys& parents() const { return parents_; }
 
   DiscreteKeys discreteKeys() const;
 
   KeyVector indices() const;
 
   // the CPT as parsed, if successful
   const std::optional<Table>& table() const { return table_; }
 
   // the CPT as a vector of doubles, with key's values most rapidly changing
   std::vector<double> cpt() const;
 
   Signature& operator,(const DiscreteKey& parent);
 
   Signature& operator=(const std::string& spec);
 
   Signature& operator=(const Table& table);
 
   GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                                const Signature& s);
  };
 
  GTSAM_EXPORT Signature operator|(const DiscreteKey& key, const DiscreteKey& parent);
 
  GTSAM_EXPORT Signature operator%(const DiscreteKey& key, const std::string& parent);
 
  GTSAM_EXPORT Signature operator%(const DiscreteKey& key, const Signature::Table& parent);
 
}