/
symbolic_variables.cc
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/
symbolic_variables.cc
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// NOLINTNEXTLINE(build/include): Its header file is included in symbolic.h.
#include <algorithm>
#include <functional>
#include <iterator>
#include <numeric>
#include <ostream>
#include <sstream>
#include <string>
#include <utility>
#include "drake/common/hash.h"
#include "drake/common/symbolic.h"
using std::includes;
using std::initializer_list;
using std::inserter;
using std::less;
using std::move;
using std::ostream;
using std::ostream_iterator;
using std::ostringstream;
using std::set;
using std::set_intersection;
using std::string;
namespace drake {
namespace symbolic {
Variables::Variables(std::initializer_list<Variable> init) : vars_(init) {}
Variables::Variables(const Eigen::Ref<const VectorX<Variable>>& vec)
: vars_{vec.data(), vec.data() + vec.size()} {}
string Variables::to_string() const {
ostringstream oss;
oss << *this;
return oss.str();
}
Variables::size_type Variables::erase(const Variables& vars) {
size_type num_of_erased_elements{0};
for (const Variable& var : vars) {
num_of_erased_elements += erase(var);
}
return num_of_erased_elements;
}
bool Variables::IsSubsetOf(const Variables& vars) const {
return includes(vars.begin(), vars.end(), begin(), end(),
std::less<Variable>{});
}
bool Variables::IsSupersetOf(const Variables& vars) const {
return vars.IsSubsetOf(*this);
}
bool Variables::IsStrictSubsetOf(const Variables& vars) const {
if (*this == vars) {
return false;
}
return IsSubsetOf(vars);
}
bool Variables::IsStrictSupersetOf(const Variables& vars) const {
if (*this == vars) {
return false;
}
return IsSupersetOf(vars);
}
bool operator==(const Variables& vars1, const Variables& vars2) {
return std::equal(vars1.vars_.begin(), vars1.vars_.end(), vars2.vars_.begin(),
vars2.vars_.end(), std::equal_to<Variable>{});
}
bool operator<(const Variables& vars1, const Variables& vars2) {
return std::lexicographical_compare(vars1.vars_.begin(), vars1.vars_.end(),
vars2.vars_.begin(), vars2.vars_.end(),
std::less<Variable>{});
}
// NOLINTNEXTLINE(runtime/references) per C++ standard signature.
Variables operator+=(Variables& vars1, const Variables& vars2) {
vars1.insert(vars2);
return vars1;
}
// NOLINTNEXTLINE(runtime/references) per C++ standard signature.
Variables operator+=(Variables& vars, const Variable& var) {
vars.insert(var);
return vars;
}
Variables operator+(Variables vars1, const Variables& vars2) {
vars1 += vars2;
return vars1;
}
Variables operator+(Variables vars, const Variable& var) {
vars += var;
return vars;
}
Variables operator+(const Variable& var, Variables vars) {
vars += var;
return vars;
}
// NOLINTNEXTLINE(runtime/references) per C++ standard signature.
Variables operator-=(Variables& vars1, const Variables& vars2) {
vars1.erase(vars2);
return vars1;
}
// NOLINTNEXTLINE(runtime/references) per C++ standard signature.
Variables operator-=(Variables& vars, const Variable& var) {
vars.erase(var);
return vars;
}
Variables operator-(Variables vars1, const Variables& vars2) {
vars1 -= vars2;
return vars1;
}
Variables operator-(Variables vars, const Variable& var) {
vars -= var;
return vars;
}
Variables::Variables(set<Variable> vars) : vars_{move(vars)} {}
Variables intersect(const Variables& vars1, const Variables& vars2) {
set<Variable> intersection;
set_intersection(vars1.vars_.begin(), vars1.vars_.end(), vars2.vars_.begin(),
vars2.vars_.end(),
inserter(intersection, intersection.begin()),
less<Variable>{});
return Variables{move(intersection)};
}
ostream& operator<<(ostream& os, const Variables& vars) {
os << "{";
if (!vars.vars_.empty()) {
// output 1st ... N-1th elements by adding ", " at the end
copy(vars.begin(), prev(vars.end()), ostream_iterator<Variable>(os, ", "));
// output the last one (without ",").
os << *(vars.rbegin());
}
os << "}";
return os;
}
} // namespace symbolic
} // namespace drake