DiscreteKey.h

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/* ----------------------------------------------------------------------------
 
 * 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/global_includes.h>
#include <gtsam/inference/Key.h>
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/vector.hpp>
#endif
#include <map>
#include <string>
#include <vector>
 
namespace gtsam {

  using DiscreteKey = std::pair<Key,size_t>;

  struct GTSAM_EXPORT DiscreteKeys: public std::vector<DiscreteKey> {
 
    // Forward all constructors.
    using std::vector<DiscreteKey>::vector;

    explicit DiscreteKeys(const DiscreteKey& key) { push_back(key); }

    explicit DiscreteKeys(std::map<Key, size_t> cardinalities) {
      for (auto&& kv : cardinalities) emplace_back(kv);
    }

    DiscreteKeys(const std::vector<DiscreteKey>& keys) :
      std::vector<DiscreteKey>(keys) {
    }

    DiscreteKeys(const std::vector<int>& cs);

    KeyVector indices() const;

    std::map<Key,size_t> cardinalities() const;

    DiscreteKeys& operator&(const DiscreteKey& key) {
      push_back(key);
      return *this;
    }

    DiscreteKeys& operator&(const DiscreteKeys& keys) {
      this->insert(this->end(), keys.begin(), keys.end());
      return *this;
    }

    void print(const std::string& s = "",
               const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;

    bool equals(const DiscreteKeys& other, double tol = 0) const;
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
    friend class boost::serialization::access;
    template <class ARCHIVE>
    void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
      ar& boost::serialization::make_nvp(
          "DiscreteKeys",
          boost::serialization::base_object<std::vector<DiscreteKey>>(*this));
    }
#endif
 
  }; // DiscreteKeys

  GTSAM_EXPORT DiscreteKeys operator&(const DiscreteKey& key1, const DiscreteKey& key2);
 
  // traits
  template <>
  struct traits<DiscreteKeys> : public Testable<DiscreteKeys> {};
 
  }  // namespace gtsam