80 lines
2.9 KiB
C++
80 lines
2.9 KiB
C++
/*
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* SingleValue.cpp
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* @brief domain constraint
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* @date Feb 13, 2012
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* @author Frank Dellaert
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*/
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#include <gtsam_unstable/discrete/SingleValue.h>
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#include <gtsam_unstable/discrete/Domain.h>
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#include <gtsam/discrete/DecisionTreeFactor.h>
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#include <gtsam/base/Testable.h>
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#include <boost/make_shared.hpp>
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namespace gtsam {
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using namespace std;
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/* ************************************************************************* */
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void SingleValue::print(const string& s,
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const IndexFormatter& formatter) const {
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cout << s << "SingleValue on " << "j=" << formatter(keys_[0])
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<< " with value " << value_ << endl;
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}
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/* ************************************************************************* */
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double SingleValue::operator()(const Values& values) const {
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return (double) (values.at(keys_[0]) == value_);
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}
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/* ************************************************************************* */
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DecisionTreeFactor SingleValue::toDecisionTreeFactor() const {
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DiscreteKeys keys;
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keys += DiscreteKey(keys_[0],cardinality_);
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vector<double> table;
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for (size_t i1 = 0; i1 < cardinality_; i1++)
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table.push_back(i1 == value_);
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DecisionTreeFactor converted(keys, table);
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return converted;
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}
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/* ************************************************************************* */
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DecisionTreeFactor SingleValue::operator*(const DecisionTreeFactor& f) const {
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// TODO: can we do this more efficiently?
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return toDecisionTreeFactor() * f;
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}
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/* ************************************************************************* */
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bool SingleValue::ensureArcConsistency(size_t j,
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vector<Domain>& domains) const {
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if (j != keys_[0]) throw invalid_argument(
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"SingleValue check on wrong domain");
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Domain& D = domains[j];
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if (D.isSingleton()) {
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if (D.firstValue() != value_) throw runtime_error("Unsatisfiable");
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return false;
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}
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D = Domain(discreteKey(),value_);
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return true;
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}
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/* ************************************************************************* */
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Constraint::shared_ptr SingleValue::partiallyApply(const Values& values) const {
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Values::const_iterator it = values.find(keys_[0]);
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if (it != values.end() && it->second != value_) throw runtime_error(
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"SingleValue::partiallyApply: unsatisfiable");
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return boost::make_shared < SingleValue > (keys_[0], cardinality_, value_);
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}
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/* ************************************************************************* */
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Constraint::shared_ptr SingleValue::partiallyApply(
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const vector<Domain>& domains) const {
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const Domain& Dk = domains[keys_[0]];
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if (Dk.isSingleton() && !Dk.contains(value_)) throw runtime_error(
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"SingleValue::partiallyApply: unsatisfiable");
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return boost::make_shared < SingleValue > (discreteKey(), value_);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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