Signature.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 <string>
#include <vector>
#include <boost/optional.hpp>
#include <gtsam/discrete/DiscreteKey.h>

namespace gtsam {

  class GTSAM_EXPORT Signature {

  public:

    typedef std::vector<double> Row;
    typedef std::vector<Row> Table;

  private:

    DiscreteKey key_;

    DiscreteKeys parents_;

    // the given CPT specification string
    boost::optional<std::string> spec_;

    // the CPT as parsed, if successful
    boost::optional<Table> table_;

  public:

    Signature(const DiscreteKey& key);

    const DiscreteKey& key() const {
      return key_;
    }

    const DiscreteKeys& parents() const {
      return parents_;
    }

    DiscreteKeys discreteKeysParentsFirst() const;

    KeyVector indices() const;

    // the CPT as parsed, if successful
    const boost::optional<Table>& table() const {
      return table_;
    }

    // the CPT as a vector of doubles, with key's values most rapidly changing
    std::vector<double> cpt() const;

    Signature& operator,(const DiscreteKey& parent);

    Signature& operator=(const std::string& spec);

    Signature& operator=(const Table& table);

    GTSAM_EXPORT friend std::ostream& operator <<(std::ostream &os, const Signature &s);
  };

  GTSAM_EXPORT Signature operator|(const DiscreteKey& key, const DiscreteKey& parent);

  GTSAM_EXPORT Signature operator%(const DiscreteKey& key, const std::string& parent);

  GTSAM_EXPORT Signature operator%(const DiscreteKey& key, const Signature::Table& parent);

}