Constraint.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/discrete/DiscreteFactor.h>
#include <gtsam_unstable/dllexport.h>
 
#include <boost/assign.hpp>
 
namespace gtsam {
 
class Domain;
 
class Constraint : public DiscreteFactor {
 public:
  typedef boost::shared_ptr<Constraint> shared_ptr;
 
 protected:
  Constraint(const KeyVector& js) : DiscreteFactor(js) {}
 
  Constraint(Key j) : DiscreteFactor(boost::assign::cref_list_of<1>(j)) {}
 
  Constraint(Key j1, Key j2)
      : DiscreteFactor(boost::assign::cref_list_of<2>(j1)(j2)) {}
 
  template <class KeyIterator>
  Constraint(KeyIterator beginKey, KeyIterator endKey)
      : DiscreteFactor(beginKey, endKey) {}
 
 public:
 
  Constraint();
 
  ~Constraint() override {}
 
 
  /*
   * Ensure Arc-consistency
   * @param j domain to be checked
   * @param domains all other domains
   */
  virtual bool ensureArcConsistency(size_t j,
                                    std::vector<Domain>& domains) const = 0;
 
  virtual shared_ptr partiallyApply(const Values&) const = 0;
 
  virtual shared_ptr partiallyApply(const std::vector<Domain>&) const = 0;
};
// DiscreteFactor
 
}  // namespace gtsam