Constraint.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 <gtsam_unstable/dllexport.h>
#include <gtsam/discrete/DiscreteFactor.h>
#include <boost/assign.hpp>

namespace gtsam {

  class Domain;

  class Constraint : public DiscreteFactor {

  public:

    typedef boost::shared_ptr<Constraint> shared_ptr;

  protected:

    Constraint(const KeyVector& js) :
      DiscreteFactor(js) {
    }

    Constraint(Key j) :
      DiscreteFactor(boost::assign::cref_list_of<1>(j)) {
    }

    Constraint(Key j1, Key j2) :
      DiscreteFactor(boost::assign::cref_list_of<2>(j1)(j2)) {
    }

    template<class KeyIterator>
    Constraint(KeyIterator beginKey, KeyIterator endKey) :
      DiscreteFactor(beginKey, endKey) {
    }

  public:


    Constraint();

    ~Constraint() override {}


    /*
     * Ensure Arc-consistency
     * @param j domain to be checked
     * @param domains all other domains
     */
    virtual bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const = 0;

    virtual shared_ptr partiallyApply(const Values&) const = 0;


    virtual shared_ptr partiallyApply(const std::vector<Domain>&) const = 0;
  };
// DiscreteFactor

}// namespace gtsam