Prm.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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#ifndef _RL_PLAN_PRM_H_
#define _RL_PLAN_PRM_H_
 
#include <queue>
#include <boost/graph/adjacency_list.hpp>
#include <boost/pending/disjoint_sets.hpp>
#include <CGAL/Search_traits.h>
 
#include "Orthogonal_k_neighbor_search.h"
#include "Planner.h"
#include "VectorPtr.h"
 
namespace rl
{
    namespace plan
    {
        class Model;
        class Sampler;
        class Verifier;
        
        class Prm : public Planner
        {
        public:
            Prm();
            
            virtual ~Prm();
            
            virtual void construct(const ::std::size_t& steps);
            
            virtual ::std::string getName() const;
            
            ::std::size_t getNumEdges() const;
            
            ::std::size_t getNumVertices() const;
            
            void getPath(VectorList& path);
            
            void reset();
            
            bool solve();
            
            ::std::size_t degree;
            
            ::std::size_t k;
            
            bool kd;
            
            ::rl::math::Real radius;
            
            Sampler* sampler;
            
            Verifier* verifier;
            
        protected:
            struct EdgeBundle
            {
                ::rl::math::Real weight;
            };
            
            struct GraphBundle;
            
            typedef ::boost::adjacency_list_traits<
                ::boost::listS,
                ::boost::listS,
                ::boost::undirectedS,
                ::boost::listS
            >::vertex_descriptor Vertex; 
            
            struct VertexBundle
            {
                ::rl::math::Real distance;
                
                ::std::size_t index;
                
                Vertex parent;
                
                Vertex predecessor;
                
                VectorPtr q;
                
                ::std::size_t rank;
            };
            
            typedef ::boost::adjacency_list<
                ::boost::listS,
                ::boost::listS,
                ::boost::undirectedS,
                VertexBundle,
                EdgeBundle,
                GraphBundle
            > Graph;
            
            typedef ::std::pair< const ::rl::math::Vector*, Vertex > QueryItem;
            
            struct CartesianIterator
            {
                typedef const ::rl::math::Real* result_type;
                
                const ::rl::math::Real* operator()(const QueryItem& p) const;
                
                const ::rl::math::Real* operator()(const QueryItem& p, const int&) const;
            };
            
            struct Distance
            {
                typedef QueryItem Query_item;
                
                Distance();
                
                Distance(Model* model);
                
                template< typename SearchTraits > ::rl::math::Real max_distance_to_rectangle(const Query_item& q, const ::CGAL::Kd_tree_rectangle< SearchTraits >& r) const;
                
                template< typename SearchTraits > ::rl::math::Real min_distance_to_rectangle(const Query_item& q, const ::CGAL::Kd_tree_rectangle< SearchTraits >& r) const;
                
                ::rl::math::Real min_distance_to_rectangle(const ::rl::math::Real& q, const ::rl::math::Real& min, const ::rl::math::Real& max, const ::std::size_t& cutting_dimension) const;
                
                ::rl::math::Real new_distance(const ::rl::math::Real& dist, const ::rl::math::Real& old_off, const ::rl::math::Real& new_off, const int& cutting_dimension) const;
                
                ::rl::math::Real transformed_distance(const ::rl::math::Real& d) const;
                
                ::rl::math::Real transformed_distance(const Query_item& q1, const Query_item& q2) const;
                
                Model* model;
            };
            
            typedef ::CGAL::Search_traits< ::rl::math::Real, QueryItem, const ::rl::math::Real*, CartesianIterator > SearchTraits;
            
            typedef Orthogonal_k_neighbor_search< SearchTraits, Distance > NeighborSearch;
            
            typedef NeighborSearch::Tree NeighborSearchTree;
            
            typedef ::boost::shared_ptr< NeighborSearchTree > NeighborSearchTreePtr;
            
            typedef ::std::vector< NeighborSearchTreePtr > NearestNeighbors;
            
            struct GraphBundle
            {
                NearestNeighbors nn;
            };
            
            typedef ::boost::graph_traits< Graph >::edge_descriptor Edge;
            
            typedef ::boost::graph_traits< Graph >::edge_iterator EdgeIterator;
            
            typedef ::std::pair< EdgeIterator, EdgeIterator > EdgeIteratorPair;
            
            typedef ::boost::graph_traits< Graph >::vertex_iterator VertexIterator;
            
            typedef ::std::pair< VertexIterator, VertexIterator > VertexIteratorPair;
            
            typedef ::boost::property_map< Graph, void* VertexBundle::* >::type VertexParentMap;
            
            typedef ::boost::property_map< Graph, ::std::size_t VertexBundle::* >::type VertexRankMap;
            
            typedef ::std::pair< Vertex, ::rl::math::Real > Neighbor;
            
            struct Compare
            {
                bool operator()(const Neighbor& x, const Neighbor& y) const;
            };
            
            typedef ::std::priority_queue< Neighbor, ::std::vector< Neighbor >, Compare > NeighborQueue;
            
            Edge addEdge(const Vertex& u, const Vertex& v, const ::rl::math::Real& weight);
            
            void addPoint(NearestNeighbors& nn, const QueryItem& p);
            
            Vertex addVertex(const VectorPtr& q);
            
            void insert(const Vertex& vertex);
            
            Vertex begin;
            
            ::boost::disjoint_sets< VertexRankMap, VertexParentMap > ds;
            
            Vertex end;
            
            Graph graph;
            
        private:
            
        };
    }
}
 
#endif // _RL_PLAN_PRM_H_