gtsam/gtsam_unstable/discrete/SingleValue.cpp

/*
 * SingleValue.cpp
 * @brief domain constraint
 * @date Feb 13, 2012
 * @author Frank Dellaert
 */

#include <gtsam_unstable/discrete/SingleValue.h>
#include <gtsam_unstable/discrete/Domain.h>
#include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/base/Testable.h>
#include <boost/make_shared.hpp>

namespace gtsam {

	using namespace std;

	/* ************************************************************************* */
	void SingleValue::print(const string& s) const {
		cout << s << "SingleValue on " << "j=" << keys_[0]
				<< " with value " << value_ << endl;
	}

	/* ************************************************************************* */
	double SingleValue::operator()(const Values& values) const {
		return (double) (values.at(keys_[0]) == value_);
	}

	/* ************************************************************************* */
	SingleValue::operator DecisionTreeFactor() const {
		DiscreteKeys keys;
		keys += DiscreteKey(keys_[0],cardinality_);
		vector<double> table;
		for (size_t i1 = 0; i1 < cardinality_; i1++)
			table.push_back(i1 == value_);
		DecisionTreeFactor converted(keys, table);
		return converted;
	}

	/* ************************************************************************* */
	DecisionTreeFactor SingleValue::operator*(const DecisionTreeFactor& f) const {
		// TODO: can we do this more efficiently?
		return DecisionTreeFactor(*this) * f;
	}

	/* ************************************************************************* */
	bool SingleValue::ensureArcConsistency(size_t j,
			vector<Domain>& domains) const {
		if (j != keys_[0]) throw invalid_argument(
				"SingleValue check on wrong domain");
		Domain& D = domains[j];
		if (D.isSingleton()) {
			if (D.firstValue() != value_) throw runtime_error("Unsatisfiable");
			return false;
		}
		D = Domain(discreteKey(),value_);
		return true;
	}

	/* ************************************************************************* */
	Constraint::shared_ptr SingleValue::partiallyApply(const Values& values) const {
		Values::const_iterator it = values.find(keys_[0]);
		if (it != values.end() && it->second != value_) throw runtime_error(
				"SingleValue::partiallyApply: unsatisfiable");
		return boost::make_shared < SingleValue > (keys_[0], cardinality_, value_);
	}

	/* ************************************************************************* */
	Constraint::shared_ptr SingleValue::partiallyApply(
			const vector<Domain>& domains) const {
		const Domain& Dk = domains[keys_[0]];
		if (Dk.isSingleton() && !Dk.contains(value_)) throw runtime_error(
				"SingleValue::partiallyApply: unsatisfiable");
		return boost::make_shared < SingleValue > (discreteKey(), value_);
	}

/* ************************************************************************* */
} // namespace gtsam