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/discrete/DiscreteFactor.h>
#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam_unstable/dllexport.h>
 
#include <map>
 
namespace gtsam {
 
class Domain;
using Domains = std::map<Key, Domain>;
 
class GTSAM_UNSTABLE_EXPORT Constraint : public DiscreteFactor {
 public:
  typedef std::shared_ptr<Constraint> shared_ptr;
 
 protected:
  Constraint(Key j) : DiscreteFactor(KeyVector{j}) {}
 
  Constraint(Key j1, Key j2) : DiscreteFactor(KeyVector{j1, j2}) {}
 
  Constraint(const KeyVector& js) : DiscreteFactor(js) {}
 
  template <class KeyIterator>
  Constraint(KeyIterator beginKey, KeyIterator endKey)
      : DiscreteFactor(beginKey, endKey) {}
 
 public:
 
  Constraint();
 
  ~Constraint() override {}
 
 
  /*
   * Ensure Arc-consistency by checking every possible value of domain j.
   * @param j domain to be checked
   * @param (in/out) domains all domains, but only domains->at(j) will be
   * checked.
   * @return true if domains->at(j) was changed, false otherwise.
   */
  virtual bool ensureArcConsistency(Key j, Domains* domains) const = 0;
 
  virtual shared_ptr partiallyApply(const DiscreteValues&) const = 0;
 
  virtual shared_ptr partiallyApply(const Domains&) const = 0;
 
  DiscreteFactor::shared_ptr multiply(
      const DiscreteFactor::shared_ptr& df) const override {
    return std::make_shared<DecisionTreeFactor>(
        this->operator*(df->toDecisionTreeFactor()));
  }
 
  virtual DiscreteFactor::shared_ptr operator*(double s) const override {
    return this->toDecisionTreeFactor() * s;
  }
 
  DecisionTreeFactor operator*(const DecisionTreeFactor& dtf) const override {
    return this->toDecisionTreeFactor() * dtf;
  }
 
  DiscreteFactor::shared_ptr operator/(
      const DiscreteFactor::shared_ptr& df) const override {
    return this->toDecisionTreeFactor() / df;
  }
 
  uint64_t nrValues() const override { return 1; };
 
  DiscreteFactor::shared_ptr sum(size_t nrFrontals) const override {
    return toDecisionTreeFactor().sum(nrFrontals);
  }
 
  DiscreteFactor::shared_ptr sum(const Ordering& keys) const override {
    return toDecisionTreeFactor().sum(keys);
  }
 
  double max() const override { return toDecisionTreeFactor().max(); }
 
  DiscreteFactor::shared_ptr max(size_t nrFrontals) const override {
    return toDecisionTreeFactor().max(nrFrontals);
  }
 
  DiscreteFactor::shared_ptr max(const Ordering& keys) const override {
    return toDecisionTreeFactor().max(keys);
  }
 
  AlgebraicDecisionTree<Key> errorTree() const override {
    throw std::runtime_error("Constraint::error not implemented");
  }
 
  DiscreteFactor::shared_ptr restrict(
      const DiscreteValues& assignment) const override {
    throw std::runtime_error("Constraint::restrict not implemented");
  }
  
 
  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                       const Names& names = {}) const override {
    return "`Constraint` on " + std::to_string(size()) + " variables\n";
  }
 
  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                   const Names& names = {}) const override {
    return "<p>Constraint on " + std::to_string(size()) + " variables</p>";
  }
 
};
// DiscreteFactor
 
}  // namespace gtsam