gtsam/gtsam_unstable/discrete/SingleValue.h

/*
 * SingleValue.h
 * @brief domain constraint
 * @date Feb 6, 2012
 * @author Frank Dellaert
 */

#pragma once

#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam_unstable/discrete/Constraint.h>

namespace gtsam {

/**
 * SingleValue constraint
 */
class GTSAM_UNSTABLE_EXPORT SingleValue : public Constraint {
  /// Number of values
  size_t cardinality_;

  /// allowed value
  size_t value_;

  DiscreteKey discreteKey() const {
    return DiscreteKey(keys_[0], cardinality_);
  }

 public:
  typedef boost::shared_ptr<SingleValue> shared_ptr;

  /// Constructor
  SingleValue(Key key, size_t n, size_t value)
      : Constraint(key), cardinality_(n), value_(value) {}

  /// Constructor
  SingleValue(const DiscreteKey& dkey, size_t value)
      : Constraint(dkey.first), cardinality_(dkey.second), value_(value) {}

  // print
  void print(const std::string& s = "", const KeyFormatter& formatter =
                                            DefaultKeyFormatter) const override;

  /// equals
  bool equals(const DiscreteFactor& other, double tol) const override {
    if (!dynamic_cast<const SingleValue*>(&other))
      return false;
    else {
      const SingleValue& f(static_cast<const SingleValue&>(other));
      return (cardinality_ == f.cardinality_) && (value_ == f.value_);
    }
  }

  /// Calculate value
  double operator()(const Values& values) const override;

  /// Convert into a decisiontree
  DecisionTreeFactor toDecisionTreeFactor() const override;

  /// Multiply into a decisiontree
  DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;

  /*
   * Ensure Arc-consistency
   * @param j domain to be checked
   * @param domains all other domains
   */
  bool ensureArcConsistency(size_t j,
                            std::vector<Domain>& domains) const override;

  /// Partially apply known values
  Constraint::shared_ptr partiallyApply(const Values& values) const override;

  /// Partially apply known values, domain version
  Constraint::shared_ptr partiallyApply(
      const std::vector<Domain>& domains) const override;
};

}  // namespace gtsam