DiscreteKey.cpp

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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

 * -------------------------------------------------------------------------- */

#include <iostream>
#include <boost/format.hpp> // for key names
#include "DiscreteKey.h"

namespace gtsam {

  using namespace std;

  DiscreteKeys::DiscreteKeys(const vector<int>& cs) {
    for (size_t i = 0; i < cs.size(); i++) {
      string name = boost::str(boost::format("v%1%") % i);
      push_back(DiscreteKey(i, cs[i]));
    }
  }

  KeyVector DiscreteKeys::indices() const {
    KeyVector js;
    for(const DiscreteKey& key: *this)
      js.push_back(key.first);
    return js;
  }

  map<Key,size_t> DiscreteKeys::cardinalities() const {
    map<Key,size_t> cs;
    cs.insert(begin(),end());
//    for(const DiscreteKey& key: *this)
//      cs.insert(key);
    return cs;
  }

  DiscreteKeys operator&(const DiscreteKey& key1, const DiscreteKey& key2) {
    DiscreteKeys keys(key1);
    return keys & key2;
  }

}