#include <CSP.h>

Inheritance diagram for gtsam::CSP:

[legend]

Public Types
using	Values = DiscreteValues
	backwards compatibility More...

Public Types inherited from gtsam::DiscreteFactorGraph
using	Base = FactorGraph< DiscreteFactor >
	base factor graph type More...

using	BaseEliminateable = EliminateableFactorGraph< This >
	for elimination More...

using	Indices = KeyVector

using	shared_ptr = std::shared_ptr< This >
	shared_ptr to This More...

using	This = DiscreteFactorGraph
	this class More...

using	Values = DiscreteValues
	backwards compatibility More...

Public Types inherited from gtsam::FactorGraph< DiscreteFactor >
typedef FastVector< sharedFactor >::const_iterator	const_iterator

typedef DiscreteFactor	FactorType
	factor type More...

typedef FastVector< sharedFactor >::iterator	iterator

typedef std::shared_ptr< DiscreteFactor >	sharedFactor
	Shared pointer to a factor. More...

typedef sharedFactor	value_type

Public Types inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph >
typedef EliminationTraitsType::BayesNetType	BayesNetType
	Bayes net type produced by sequential elimination. More...

typedef EliminationTraitsType::BayesTreeType	BayesTreeType
	Bayes tree type produced by multifrontal elimination. More...

typedef EliminationTraitsType::ConditionalType	ConditionalType
	Conditional type stored in the Bayes net produced by elimination. More...

typedef std::function< EliminationResult(const FactorGraphType &, const Ordering &)>	Eliminate
	The function type that does a single dense elimination step on a subgraph. More...

typedef std::pair< std::shared_ptr< ConditionalType >, std::shared_ptr< _FactorType > >	EliminationResult

typedef EliminationTraits< FactorGraphType >	EliminationTraitsType
	Typedef to the specific EliminationTraits for this graph. More...

typedef EliminationTraitsType::EliminationTreeType	EliminationTreeType
	Elimination tree type that can do sequential elimination of this graph. More...

typedef EliminationTraitsType::JunctionTreeType	JunctionTreeType
	Junction tree type that can do multifrontal elimination of this graph. More...

typedef std::optional< Ordering::OrderingType >	OptionalOrderingType
	Typedef for an optional ordering type. More...

typedef std::optional< std::reference_wrapper< const VariableIndex > >	OptionalVariableIndex

Public Member Functions
void	addAllDiff (const DiscreteKey &key1, const DiscreteKey &key2)
	Add a binary AllDiff constraint. More...

void	addAllDiff (const DiscreteKeys &dkeys)
	Add a general AllDiff constraint. More...

void	addSingleValue (const DiscreteKey &dkey, size_t value)
	Add a unary constraint, allowing only a single value. More...

CSP	partiallyApply (const Domains &domains) const

Domains	runArcConsistency (size_t cardinality, size_t maxIterations=10) const

bool	runArcConsistency (const VariableIndex &index, Domains *domains) const
	Run arc consistency for all variables, return true if any domain changed. More...

Public Member Functions inherited from gtsam::DiscreteFactorGraph
template<typename... Args>
void	add (Args &&... args)

	DiscreteFactorGraph ()
	map from keys to values More...

template<typename ITERATOR >
	DiscreteFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

template<class CONTAINER >
	DiscreteFactorGraph (const CONTAINER &factors)

template<class DERIVEDFACTOR >
	DiscreteFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)

DiscreteKeys	discreteKeys () const
	Return the DiscreteKeys in this factor graph. More...

KeySet	keys () const

DiscreteLookupDAG	maxProduct (OptionalOrderingType orderingType={}) const
	Implement the max-product algorithm. More...

DiscreteLookupDAG	maxProduct (const Ordering &ordering) const
	Implement the max-product algorithm. More...

double	operator() (const DiscreteValues &values) const

DiscreteValues	optimize (OptionalOrderingType orderingType={}) const
	Find the maximum probable explanation (MPE) by doing max-product. More...

DiscreteValues	optimize (const Ordering &ordering) const
	Find the maximum probable explanation (MPE) by doing max-product. More...

void	print (const std::string &s="DiscreteFactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	print More...

DecisionTreeFactor	product () const

DiscreteBayesNet	sumProduct (OptionalOrderingType orderingType={}) const
	Implement the sum-product algorithm. More...

DiscreteBayesNet	sumProduct (const Ordering &ordering) const
	Implement the sum-product algorithm. More...

bool	equals (const This &fg, double tol=1e-9) const

std::string	markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const
	Render as markdown tables. More...

std::string	html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const
	Render as html tables. More...

Public Member Functions inherited from gtsam::FactorGraph< DiscreteFactor >
	FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)

virtual	~FactorGraph ()=default

void	reserve (size_t size)

IsDerived< DERIVEDFACTOR >	push_back (std::shared_ptr< DERIVEDFACTOR > factor)
	Add a factor directly using a shared_ptr. More...

IsDerived< DERIVEDFACTOR >	push_back (const DERIVEDFACTOR &factor)

IsDerived< DERIVEDFACTOR >	emplace_shared (Args &&... args)
	Emplace a shared pointer to factor of given type. More...

IsDerived< DERIVEDFACTOR >	add (std::shared_ptr< DERIVEDFACTOR > factor)
	`add` is a synonym for push_back. More...

HasDerivedElementType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)

HasDerivedValueType< ITERATOR >	push_back (ITERATOR firstFactor, ITERATOR lastFactor)
	Push back many factors with an iterator (factors are copied) More...

HasDerivedElementType< CONTAINER >	push_back (const CONTAINER &container)

HasDerivedValueType< CONTAINER >	push_back (const CONTAINER &container)
	Push back non-pointer objects in a container (factors are copied). More...

void	add (const FACTOR_OR_CONTAINER &factorOrContainer)

std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type	push_back (const BayesTree< CLIQUE > &bayesTree)

FactorIndices	add_factors (const CONTAINER &factors, bool useEmptySlots=false)

bool	equals (const This &fg, double tol=1e-9) const
	Check equality up to tolerance. More...

size_t	size () const

bool	empty () const

const sharedFactor	at (size_t i) const

sharedFactor &	at (size_t i)

const sharedFactor	operator[] (size_t i) const

sharedFactor &	operator[] (size_t i)

const_iterator	begin () const

const_iterator	end () const

sharedFactor	front () const

sharedFactor	back () const

double	error (const HybridValues &values) const

iterator	begin ()

iterator	end ()

virtual void	resize (size_t size)

void	remove (size_t i)

void	replace (size_t index, sharedFactor factor)

iterator	erase (iterator item)

iterator	erase (iterator first, iterator last)

void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format, stream version. More...

std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	Output to graphviz format string. More...

void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
	output to file with graphviz format. More...

size_t	nrFactors () const

KeySet	keys () const

KeyVector	keyVector () const

bool	exists (size_t idx) const

Public Member Functions inherited from gtsam::EliminateableFactorGraph< DiscreteFactorGraph >
std::shared_ptr< BayesTreeType >	eliminateMultifrontal (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	eliminateMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	eliminateSequential (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< FactorGraphType >	marginal (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesNetType >	marginalMultifrontalBayesNet (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, const Ordering &marginalizedVariableOrdering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

Additional Inherited Members
Protected Member Functions inherited from gtsam::FactorGraph< DiscreteFactor >
bool	isEqual (const FactorGraph &other) const
	Check exact equality of the factor pointers. Useful for derived ==. More...

	FactorGraph ()

	FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)

	FactorGraph (const CONTAINER &factors)

Protected Attributes inherited from gtsam::FactorGraph< DiscreteFactor >
FastVector< sharedFactor >	factors_

Detailed Description

Constraint Satisfaction Problem class A specialization of a DiscreteFactorGraph. It knows about CSP-specific constraints and algorithms

Definition at line 21 of file CSP.h.

Member Typedef Documentation

◆ Values

using gtsam::CSP::Values = DiscreteValues

backwards compatibility

Definition at line 23 of file CSP.h.

Member Function Documentation

◆ addAllDiff() [1/2]

void gtsam::CSP::addAllDiff	(	const DiscreteKey &	key1,
		const DiscreteKey &	key2
	)

inline

Add a binary AllDiff constraint.

Definition at line 31 of file CSP.h.

◆ addAllDiff() [2/2]

void gtsam::CSP::addAllDiff ( const DiscreteKeys & dkeys )

inline

Add a general AllDiff constraint.

Definition at line 36 of file CSP.h.

◆ addSingleValue()

void gtsam::CSP::addSingleValue	(	const DiscreteKey &	dkey,
		size_t	value
	)

inline

Add a unary constraint, allowing only a single value.

Definition at line 26 of file CSP.h.

◆ partiallyApply()

CSP gtsam::CSP::partiallyApply ( const Domains & domains ) const

Definition at line 63 of file CSP.cpp.

◆ runArcConsistency() [1/2]

Domains gtsam::CSP::runArcConsistency	(	size_t	cardinality,
		size_t	maxIterations = `10`
	)		const

return product of all factors as a single factor

Definition at line 44 of file CSP.cpp.

◆ runArcConsistency() [2/2]

bool gtsam::CSP::runArcConsistency	(	const VariableIndex &	index,
		Domains *	domains
	)		const

Run arc consistency for all variables, return true if any domain changed.

Definition at line 17 of file CSP.cpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Values

Member Function Documentation

◆ addAllDiff() [1/2]

◆ addAllDiff() [2/2]

◆ addSingleValue()

◆ partiallyApply()

◆ runArcConsistency() [1/2]

◆ runArcConsistency() [2/2]