DiscreteValues.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 <gtsam/discrete/DiscreteValues.h>
 
#include <sstream>
 
using std::cout;
using std::endl;
using std::string;
using std::stringstream;
 
namespace gtsam {
 
/* ************************************************************************ */
static void stream(std::ostream& os, const DiscreteValues& x,
                   const KeyFormatter& keyFormatter) {
  for (const auto& kv : x)
    os << "(" << keyFormatter(kv.first) << ", " << kv.second << ")";
}
 
/* ************************************************************************ */
std::ostream& operator<<(std::ostream& os, const DiscreteValues& x) {
  stream(os, x, DefaultKeyFormatter);
  return os;
}
 
/* ************************************************************************ */
void DiscreteValues::print(const string& s,
                           const KeyFormatter& keyFormatter) const {
  cout << s << ": ";
  stream(cout, *this, keyFormatter);
  cout << endl;
}
 
/* ************************************************************************ */
bool DiscreteValues::equals(const DiscreteValues& x, double tol) const {
  if (this->size() != x.size()) return false;
  auto it1 = x.begin();
  auto it2 = this->begin();
  for (; it1 != x.end(); ++it1, ++it2) {
    if (it1->first != it2->first || it1->second != it2->second) return false;
  }
  return true;
}
 
/* ************************************************************************ */
DiscreteValues& DiscreteValues::insert(
    const std::pair<Key, size_t>& assignment) {
  if (count(assignment.first)) {
    throw std::out_of_range(
        "Requested to insert a DiscreteValues into another DiscreteValues "
        "that already contains one or more of its keys.");
  } else {
    this->emplace(assignment);
  }
  return *this;
}
/* ************************************************************************ */
DiscreteValues& DiscreteValues::insert(const DiscreteValues& values) {
  for (const auto& kv : values) {
    this->insert(kv);
  }
  return *this;
}
 
/* ************************************************************************ */
DiscreteValues& DiscreteValues::update(const DiscreteValues& values) {
  for (const auto& kv : values) {
    if (!count(kv.first)) {
      throw std::out_of_range(
          "Requested to update a DiscreteValues with another DiscreteValues "
          "that contains keys not present in the first.");
    } else {
      (*this)[kv.first] = kv.second;
    }
  }
  return *this;
}
 
/* ************************************************************************ */
string DiscreteValues::Translate(const Names& names, Key key, size_t index) {
  if (names.empty()) {
    stringstream ss;
    ss << index;
    return ss.str();
  } else {
    return names.at(key)[index];
  }
}
 
string DiscreteValues::markdown(const KeyFormatter& keyFormatter,
                                const Names& names) const {
  stringstream ss;
 
  // Print out header and separator with alignment hints.
  ss << "|Variable|value|\n|:-:|:-:|\n";
 
  // Print out all rows.
  for (const auto& kv : *this) {
    ss << "|" << keyFormatter(kv.first) << "|"
       << Translate(names, kv.first, kv.second) << "|\n";
  }
 
  return ss.str();
}
 
/* ************************************************************************ */
string DiscreteValues::html(const KeyFormatter& keyFormatter,
                            const Names& names) const {
  stringstream ss;
 
  // Print out preamble.
  ss << "<div>\n<table class='DiscreteValues'>\n  <thead>\n";
 
  // Print out header row.
  ss << "    <tr><th>Variable</th><th>value</th></tr>\n";
 
  // Finish header and start body.
  ss << "  </thead>\n  <tbody>\n";
 
  // Print out all rows.
  for (const auto& kv : *this) {
    ss << "    <tr>";
    ss << "<th>" << keyFormatter(kv.first) << "</th><td>"
       << Translate(names, kv.first, kv.second) << "</td>";
    ss << "</tr>\n";
  }
  ss << "  </tbody>\n</table>\n</div>";
  return ss.str();
}
 
/* ************************************************************************ */
string markdown(const DiscreteValues& values, const KeyFormatter& keyFormatter,
                const DiscreteValues::Names& names) {
  return values.markdown(keyFormatter, names);
}
 
string html(const DiscreteValues& values, const KeyFormatter& keyFormatter,
            const DiscreteValues::Names& names) {
  return values.html(keyFormatter, names);
}
 
}  // namespace gtsam