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>

#include <map>
#include <string>
#include <vector>

namespace gtsam {

  typedef std::pair<Key,size_t> DiscreteKey;

  struct DiscreteKeys: public std::vector<DiscreteKey> {

    DiscreteKeys() {
    }

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

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

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

    GTSAM_EXPORT KeyVector indices() const;

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

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

  GTSAM_EXPORT DiscreteKeys operator&(const DiscreteKey& key1, const DiscreteKey& key2);
}