#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

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

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

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

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

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

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

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

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

KeySet	keys () const

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

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

double	operator() (const DiscreteValues &values) const

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

DiscreteValues	optimize (OptionalOrderingType orderingType={}) 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 (const Ordering &ordering) const
	Implement the sum-product algorithm. More...

DiscreteBayesNet	sumProduct (OptionalOrderingType orderingType={}) 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...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator+= (std::shared_ptr< DERIVEDFACTOR > factor)
	Append factor to factor graph. More...

std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type &	operator, (std::shared_ptr< DERIVEDFACTOR > factor)
	Overload comma operator to allow for append chaining. 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)

This &	operator+= (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)

std::shared_ptr< F >	at (size_t i)

const std::shared_ptr< F >	at (size_t i) const
	Const version of templated `at` method. More...

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 (const Ordering &ordering, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const

std::shared_ptr< BayesTreeType >	eliminateMultifrontal (OptionalOrderingType orderingType={}, 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< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminatePartialMultifrontal (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::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminatePartialSequential (const Ordering &ordering, 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< BayesNetType >	eliminateSequential (OptionalOrderingType orderingType={}, 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 KeyVector &variables, 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< BayesNetType >	marginalMultifrontalBayesNet (const Ordering &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< BayesTreeType >	marginalMultifrontalBayesTree (const KeyVector &variables, 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

std::shared_ptr< BayesTreeType >	marginalMultifrontalBayesTree (const Ordering &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

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]

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.

◆ runArcConsistency() [2/2]

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

Definition at line 44 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]