Domain.cpp
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1 /*
2  * Domain.cpp
3  * @brief Domain restriction constraint
4  * @date Feb 13, 2012
5  * @author Frank Dellaert
6  */
7 
8 #include <gtsam/base/Testable.h>
11 
12 #include <sstream>
13 namespace gtsam {
14 
15 using namespace std;
16 
17 /* ************************************************************************* */
18 void Domain::print(const string& s, const KeyFormatter& formatter) const {
19  cout << s << ": Domain on " << formatter(key()) << " (j=" << formatter(key())
20  << ") with values";
21  for (size_t v : values_) cout << " " << v;
22  cout << endl;
23 }
24 
25 /* ************************************************************************* */
26 string Domain::base1Str() const {
27  stringstream ss;
28  for (size_t v : values_) ss << v + 1;
29  return ss.str();
30 }
31 
32 /* ************************************************************************* */
34  return contains(values.at(key()));
35 }
36 
37 /* ************************************************************************* */
39  const DiscreteKeys keys{DiscreteKey(key(), cardinality_)};
40  vector<double> table;
41  for (size_t i1 = 0; i1 < cardinality_; ++i1) table.push_back(contains(i1));
42  DecisionTreeFactor converted(keys, table);
43  return converted;
44 }
45 
46 /* ************************************************************************* */
48  // TODO: can we do this more efficiently?
49  return toDecisionTreeFactor() * f;
50 }
51 
52 /* ************************************************************************* */
53 bool Domain::ensureArcConsistency(Key j, Domains* domains) const {
54  if (j != key()) throw invalid_argument("Domain check on wrong domain");
55  Domain& D = domains->at(j);
56  for (size_t value : values_)
57  if (!D.contains(value)) throw runtime_error("Unsatisfiable");
58  D = *this;
59  return true;
60 }
61 
62 /* ************************************************************************* */
63 std::optional<Domain> Domain::checkAllDiff(const KeyVector keys,
64  const Domains& domains) const {
65  Key j = key();
66  // for all values in this domain
67  for (const size_t value : values_) {
68  // for all connected domains
69  for (const Key k : keys)
70  // if any domain contains the value we cannot make this domain singleton
71  if (k != j && domains.at(k).contains(value)) goto found;
72  // Otherwise: return a singleton:
73  return Domain(this->discreteKey(), value);
74  found:;
75  }
76  return {}; // we did not change it
77 }
78 
79 /* ************************************************************************* */
81  DiscreteValues::const_iterator it = values.find(key());
82  if (it != values.end() && !contains(it->second))
83  throw runtime_error("Domain::partiallyApply: unsatisfiable");
84  return std::make_shared<Domain>(*this);
85 }
86 
87 /* ************************************************************************* */
89  const Domain& Dk = domains.at(key());
90  if (Dk.isSingleton() && !contains(*Dk.begin()))
91  throw runtime_error("Domain::partiallyApply: unsatisfiable");
92  return std::make_shared<Domain>(Dk);
93 }
94 
95 /* ************************************************************************* */
96 } // namespace gtsam
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Definition: DecisionTreeFactor.h:44
gtsam::Domain::isSingleton
bool isSingleton() const
Definition: Domain.h:54
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Definition: testRegularImplicitSchurFactor.cpp:40
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std::string base1Str() const
Definition: Domain.cpp:26
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Definition: testHybridBayesNet.cpp:245
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Definition: DiscreteKey.h:41
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const_iterator begin() const
Definition: Factor.h:146
gtsam::Domain::partiallyApply
Constraint::shared_ptr partiallyApply(const DiscreteValues &values) const override
Partially apply known values.
Definition: Domain.cpp:80
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Define collection type once and for all - also used in wrappers.
Definition: Key.h:92
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Definition: testBTree.cpp:31
gtsam::Domain::operator()
double operator()(const DiscreteValues &values) const override
Calculate value.
Definition: Domain.cpp:33
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Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
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Definition: Domain.h:20
gtsam::Domain::operator*
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Multiply into a decisiontree.
Definition: Domain.cpp:47
gtsam::Domain::ensureArcConsistency
bool ensureArcConsistency(Key j, Domains *domains) const override
Definition: Domain.cpp:53
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Definition: Constraint.h:29
gtsam::Domain::checkAllDiff
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Definition: Domain.cpp:63
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Domain.h
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Definition: i1.c:150
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Definition: DiscreteValues.h:34
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Definition: DiscreteKey.h:38
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gtsam::Domain::print
void print(const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
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Definition: Domain.cpp:18
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Definition: Array_initializer_list_vector_cxx11.cpp:1
gtsam::Domain::toDecisionTreeFactor
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Convert into a decisiontree.
Definition: Domain.cpp:38
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Definition: Constraint.h:37
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Definition: test_callbacks.py:160


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