DiscreteValues.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/Assignment.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/inference/Key.h>
 
#include <map>
#include <string>
#include <vector>
 
namespace gtsam {

class GTSAM_EXPORT DiscreteValues : public Assignment<Key> {
 public:
  using Base = Assignment<Key>;  // base class

  using Assignment::Assignment;  // all constructors
 
  // Define the implicit default constructor.
  DiscreteValues() = default;
 
  // Construct from assignment.
  explicit DiscreteValues(const Base& a) : Base(a) {}
 
  // Construct from initializer list.
  DiscreteValues(std::initializer_list<std::pair<const Key, size_t>> init)
      : Assignment<Key>{init} {}


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

  bool equals(const DiscreteValues& x, double tol = 1e-9) const;


  friend std::ostream& operator<<(std::ostream& os, const DiscreteValues& x);
 
  // insert in base class;
  std::pair<iterator, bool> insert(const value_type& value) {
    return Base::insert(value);
  }

  DiscreteValues& insert(const std::pair<Key, size_t>& assignment);

  DiscreteValues& insert(const DiscreteValues& values);

  DiscreteValues& update(const DiscreteValues& values);

  DiscreteValues& insert_or_assign(const DiscreteValues& values);

  bool contains(Key key) const { return this->find(key) != this->end(); }

  DiscreteValues filter(const DiscreteKeys& keys) const {
    DiscreteValues result;
    for (const auto& [key, _] : keys) {
      if (auto it = this->find(key); it != this->end())
        result[key] = it->second;
    }
    return result;
  }

  DiscreteKeys missingKeys(const DiscreteKeys& keys) const {
    DiscreteKeys result;
    for (const auto& [key, cardinality] : keys) {
      if (!this->contains(key)) result.emplace_back(key, cardinality);
    }
    return result;
  }

  static std::vector<DiscreteValues> CartesianProduct(
      const DiscreteKeys& keys) {
    return Base::CartesianProduct<DiscreteValues>(keys);
  }


  using Names = std::map<Key, std::vector<std::string>>;

  static std::string Translate(const Names& names, Key key, size_t index);

  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                       const Names& names = {}) const;

  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                   const Names& names = {}) const;

};

inline std::vector<DiscreteValues> cartesianProduct(const DiscreteKeys& keys) {
  return DiscreteValues::CartesianProduct(keys);
}

std::string GTSAM_EXPORT
markdown(const DiscreteValues& values,
         const KeyFormatter& keyFormatter = DefaultKeyFormatter,
         const DiscreteValues::Names& names = {});

std::string GTSAM_EXPORT
html(const DiscreteValues& values,
     const KeyFormatter& keyFormatter = DefaultKeyFormatter,
     const DiscreteValues::Names& names = {});
 
// traits
template <>
struct traits<DiscreteValues> : public Testable<DiscreteValues> {};
 
}  // namespace gtsam