Assignment.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 <boost/foreach.hpp>
#include <iostream>
#include <vector>
#include <map>


namespace gtsam {

  template<class L>
  class Assignment: public std::map<L, size_t> {
  public:
    void print(const std::string& s = "Assignment: ") const {
      std::cout << s << ": ";
      BOOST_FOREACH(const typename Assignment::value_type& keyValue, *this)
        std::cout << "(" << keyValue.first << ", " << keyValue.second << ")";
      std::cout << std::endl;
    }

    bool equals(const Assignment& other, double tol = 1e-9) const {
      return (*this == other);
    }
  };  //Assignment


  template<typename L>
  std::vector<Assignment<L> > cartesianProduct(
      const std::vector<std::pair<L, size_t> >& keys) {
    std::vector<Assignment<L> > allPossValues;
    Assignment<L> values;
    typedef std::pair<L, size_t> DiscreteKey;
    BOOST_FOREACH(const DiscreteKey& key, keys)
      values[key.first] = 0;  //Initialize from 0
    while (1) {
      allPossValues.push_back(values);
      size_t j = 0;
      for (j = 0; j < keys.size(); j++) {
        L idx = keys[j].first;
        values[idx]++;
        if (values[idx] < keys[j].second)
          break;
        //Wrap condition
        values[idx] = 0;
      }
      if (j == keys.size())
        break;
    }
    return allPossValues;
  }

} // namespace gtsam