78 lines
2.8 KiB
C++
78 lines
2.8 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/base/Testable.h>
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#include <gtsam/discrete/DecisionTreeFactor.h>
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#include <gtsam_unstable/discrete/Domain.h>
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#include <gtsam_unstable/discrete/SingleValue.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, const KeyFormatter& formatter) const {
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cout << s << "SingleValue on "
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<< "j=" << formatter(keys_[0]) << " with value " << value_ << endl;
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}
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/* ************************************************************************* */
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double SingleValue::operator()(const DiscreteValues& 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++) 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(Key j, Domains* domains) const {
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if (j != keys_[0])
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throw invalid_argument("SingleValue check on wrong domain");
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Domain& D = domains->at(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 DiscreteValues& values) const {
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DiscreteValues::const_iterator it = values.find(keys_[0]);
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if (it != values.end() && it->second != value_)
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throw runtime_error("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 Domains& domains) const {
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const Domain& Dk = domains.at(keys_[0]);
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if (Dk.isSingleton() && !Dk.contains(value_))
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throw runtime_error("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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