Constraint.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/discrete/DiscreteFactor.h>
#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam_unstable/dllexport.h>

#include <map>

namespace gtsam {

class Domain;
using Domains = std::map<Key, Domain>;

class GTSAM_UNSTABLE_EXPORT Constraint : public DiscreteFactor {
 public:
  typedef std::shared_ptr<Constraint> shared_ptr;

 protected:
  Constraint(Key j) : DiscreteFactor(KeyVector{j}) {}

  Constraint(Key j1, Key j2) : DiscreteFactor(KeyVector{j1, j2}) {}

  Constraint(const KeyVector& js) : DiscreteFactor(js) {}

  template <class KeyIterator>
  Constraint(KeyIterator beginKey, KeyIterator endKey)
      : DiscreteFactor(beginKey, endKey) {}

 public:

  Constraint();

  ~Constraint() override {}


  /*
   * Ensure Arc-consistency by checking every possible value of domain j.
   * @param j domain to be checked
   * @param (in/out) domains all domains, but only domains->at(j) will be checked.
   * @return true if domains->at(j) was changed, false otherwise.
   */
  virtual bool ensureArcConsistency(Key j, Domains* domains) const = 0;

  virtual shared_ptr partiallyApply(const DiscreteValues&) const = 0;

  virtual shared_ptr partiallyApply(const Domains&) const = 0;

  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                       const Names& names = {}) const override {
    return "`Constraint` on " + std::to_string(size()) + " variables\n";
  }

  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                   const Names& names = {}) const override {
    return "<p>Constraint on " + std::to_string(size()) + " variables</p>";
  }

};
// DiscreteFactor

}  // namespace gtsam