102 lines
3.2 KiB
C++
102 lines
3.2 KiB
C++
/*
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* BinaryAllDiff.h
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* @brief Binary "all-different" constraint
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* @date Feb 6, 2012
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* @author Frank Dellaert
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*/
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#pragma once
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#include <gtsam/discrete/DecisionTreeFactor.h>
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#include <gtsam_unstable/discrete/Constraint.h>
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#include <gtsam_unstable/discrete/Domain.h>
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namespace gtsam {
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/**
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* Binary AllDiff constraint
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* Returns 1 if values for two keys are different, 0 otherwise.
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*/
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class BinaryAllDiff : public Constraint {
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size_t cardinality0_, cardinality1_; /// cardinality
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public:
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/// Constructor
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BinaryAllDiff(const DiscreteKey& key1, const DiscreteKey& key2)
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: Constraint(key1.first, key2.first),
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cardinality0_(key1.second),
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cardinality1_(key2.second) {}
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// print
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void print(
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const std::string& s = "",
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const KeyFormatter& formatter = DefaultKeyFormatter) const override {
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std::cout << s << "BinaryAllDiff on " << formatter(keys_[0]) << " and "
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<< formatter(keys_[1]) << std::endl;
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}
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/// equals
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bool equals(const DiscreteFactor& other, double tol) const override {
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if (!dynamic_cast<const BinaryAllDiff*>(&other))
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return false;
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else {
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const BinaryAllDiff& f(static_cast<const BinaryAllDiff&>(other));
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return (cardinality0_ == f.cardinality0_) &&
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(cardinality1_ == f.cardinality1_);
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}
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}
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/// Calculate value
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double operator()(const DiscreteValues& values) const override {
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return (double)(values.at(keys_[0]) != values.at(keys_[1]));
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}
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/// Convert into a decisiontree
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DecisionTreeFactor toDecisionTreeFactor() const override {
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DiscreteKeys keys;
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keys.push_back(DiscreteKey(keys_[0], cardinality0_));
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keys.push_back(DiscreteKey(keys_[1], cardinality1_));
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std::vector<double> table;
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for (size_t i1 = 0; i1 < cardinality0_; i1++)
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for (size_t i2 = 0; i2 < cardinality1_; i2++) table.push_back(i1 != i2);
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DecisionTreeFactor converted(keys, table);
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return converted;
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}
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/// Multiply into a decisiontree
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DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override {
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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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* Ensure Arc-consistency by checking every possible value of domain j.
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* @param j domain to be checked
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* @param (in/out) domains all domains, but only domains->at(j) will be checked.
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* @return true if domains->at(j) was changed, false otherwise.
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*/
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bool ensureArcConsistency(Key j, Domains* domains) const override {
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throw std::runtime_error(
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"BinaryAllDiff::ensureArcConsistency not implemented");
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return false;
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}
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/// Partially apply known values
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Constraint::shared_ptr partiallyApply(const DiscreteValues&) const override {
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throw std::runtime_error("BinaryAllDiff::partiallyApply not implemented");
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}
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/// Partially apply known values, domain version
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Constraint::shared_ptr partiallyApply(
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const Domains&) const override {
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throw std::runtime_error("BinaryAllDiff::partiallyApply not implemented");
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}
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/// Compute error for each assignment and return as a tree
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AlgebraicDecisionTree<Key> errorTree() const override {
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throw std::runtime_error("BinaryAllDiff::error not implemented");
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}
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};
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} // namespace gtsam
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