AllDiff.h

/*
 * AllDiff.h
 * @brief General "all-different" constraint
 * @date Feb 6, 2012
 * @author Frank Dellaert
 */
 
#pragma once
 
#include <gtsam/discrete/BinaryAllDiff.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/TableFactor.h>
 
namespace gtsam {

class GTSAM_EXPORT AllDiff : public Constraint {
  DiscreteKey discreteKey(size_t i) const {
    Key j = keys_[i];
    return DiscreteKey(j, cardinalities_.at(j));
  }
 
 public:
  AllDiff(const DiscreteKeys& dkeys);

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

  bool equals(const DiscreteFactor& other, double tol) const override {
    if (!dynamic_cast<const AllDiff*>(&other))
      return false;
    else {
      const AllDiff& f(static_cast<const AllDiff&>(other));
      return cardinalities_.size() == f.cardinalities_.size() &&
             std::equal(cardinalities_.begin(), cardinalities_.end(),
                        f.cardinalities_.begin());
    }
  }

  double evaluate(const Assignment<Key>& values) const override;

  DecisionTreeFactor toDecisionTreeFactor() const override;

  TableFactor toTableFactor() const override;

  DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;

  bool ensureArcConsistency(Key j, Domains* domains) const override;

  Constraint::shared_ptr partiallyApply(const DiscreteValues&) const override;

  Constraint::shared_ptr partiallyApply(const Domains&) const override;
};
 
}  // namespace gtsam