TriangularDecomposition.h

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/* Author: Matt Maly */

#ifndef OMPL_EXTENSIONS_TRIANGLE_TRIANGULARDECOMPOSITION_
#define OMPL_EXTENSIONS_TRIANGLE_TRIANGULARDECOMPOSITION_

#include "ompl/base/State.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include "ompl/control/planners/syclop/Decomposition.h"
#include "ompl/control/planners/syclop/GridDecomposition.h"
#include "ompl/util/RandomNumbers.h"
#include <ostream>
#include <vector>
#include <set>

namespace ompl
{
    namespace control
    {
        class TriangularDecomposition : public Decomposition
        {
            // \todo: Switch all geometry code to use boost::geometry.
            // This requires that we use boost version 1.47 or greater.
        public:
            struct Vertex
            {
                Vertex(void) {}
                Vertex(double vx, double vy);
                bool operator==(const Vertex& v) const;
                double x, y;
            };

            //A polygon is a list of vertices in counter-clockwise order.
            struct Polygon
            {
                Polygon(int nv) : pts(nv) {}
                virtual ~Polygon() {}
                std::vector<Vertex> pts;
            };

            struct Triangle : public Polygon
            {
                Triangle() : Polygon(3) {}
                virtual ~Triangle() {}
                std::vector<int> neighbors;
                double volume;
            };

            TriangularDecomposition(
                const base::RealVectorBounds &bounds,
                const std::vector<Polygon> &holes = std::vector<Polygon>(),
                const std::vector<Polygon> &intRegs = std::vector<Polygon>()
            );

            virtual ~TriangularDecomposition(void);

            virtual int getNumRegions(void) const { return triangles_.size(); }

            virtual double getRegionVolume(int triID);

            virtual void getNeighbors(int triID, std::vector<int>& neighbors) const;

            virtual int locateRegion(const base::State* s) const;

            virtual void sampleFromRegion(int triID, RNG& rng, std::vector<double>& coord) const;

            void setup(void);

            void addHole(const Polygon& hole);

            void addRegionOfInterest(const Polygon& region);

            int getNumHoles(void) const;

            int getNumRegionsOfInterest(void) const;

            const std::vector<Polygon>& getHoles(void) const;

            const std::vector<Polygon>& getAreasOfInterest(void) const;

            int getRegionOfInterestAt(int triID) const;

            //Debug method: prints this decomposition as a list of polygons
            void print(std::ostream& out) const;

        protected:
            virtual int createTriangles();

            std::vector<Triangle> triangles_;
            std::vector<Polygon> holes_;
            std::vector<Polygon> intRegs_;
            std::vector<int> intRegInfo_;
            double triAreaPct_;

        private:
            class LocatorGrid : public GridDecomposition
            {
            public:
                LocatorGrid(int len, const Decomposition *d) :
                    GridDecomposition(len, d->getDimension(), d->getBounds()),
                    triDecomp(d)
                {
                }

                virtual ~LocatorGrid()
                {
                }

                virtual void project(const base::State *s, std::vector<double>& coord) const
                {
                    triDecomp->project(s, coord);
                }

                virtual void sampleFullState(const base::StateSamplerPtr& /*sampler*/, const std::vector<double>& /*coord*/, base::State* /*s*/) const
                {
                }

                const std::vector<int>& locateTriangles(const base::State *s) const
                {
                    return regToTriangles_[locateRegion(s)];
                }

                void buildTriangleMap(const std::vector<Triangle>& triangles);

            protected:
                const Decomposition *triDecomp;
                /* map from locator grid cell ID to set of triangles with which
                 * that cell intersects */
                std::vector<std::vector<int> > regToTriangles_;
            };

            void buildLocatorGrid();

            static bool triContains(const Triangle& tri, const std::vector<double>& coord);

            static Vertex getPointInPoly(const Polygon& poly);

            LocatorGrid locator;
        };
    }
}
#endif