WorkspaceSphereExplorer.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
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef _RL_PLAN_WORKSPACESPHEREEXPLORER_H_
#define _RL_PLAN_WORKSPACESPHEREEXPLORER_H_
 
#include <list>
#include <set>
#include <boost/graph/adjacency_list.hpp>
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_on_sphere.hpp>
#include <boost/random/variate_generator.hpp>
#include <rl/math/Vector.h>
 
#include "WorkspaceSphere.h"
#include "WorkspaceSphereList.h"
 
namespace rl
{
    namespace plan
    {
        class DistanceModel;
        class Viewer;
        
        class WorkspaceSphereExplorer
        {
        public:
            enum Greedy
            {
                GREEDY_DISTANCE,
                GREEDY_SOURCE_DISTANCE,
                GREEDY_SPACE
            };
            
            WorkspaceSphereExplorer();
            
            virtual ~WorkspaceSphereExplorer();
            
            bool explore();
            
            void getPath(WorkspaceSphereList& path) const;
            
            bool isCovered(const ::rl::math::Vector3& point) const;
            
            void reset();
            
            void seed(const ::boost::mt19937::result_type& value);
            
            ::rl::math::Vector3* goal;
            
            Greedy greedy;
            
            DistanceModel* model;
            
            ::rl::math::Real radius;
            
            ::rl::math::Real range;
            
            ::std::size_t samples;
            
            ::rl::math::Vector3* start;
            
            Viewer* viewer;
            
        protected:
            struct VertexBundle
            {
                WorkspaceSphere sphere;
            };
            
            typedef ::boost::adjacency_list<
                ::boost::listS,
                ::boost::listS,
                ::boost::bidirectionalS,
                VertexBundle
            > Graph;
            
            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_descriptor Vertex;
            
            typedef ::boost::graph_traits< Graph >::vertex_iterator VertexIterator;
            
            typedef ::std::pair< VertexIterator, VertexIterator > VertexIteratorPair;
            
            Edge addEdge(const Vertex& u, const Vertex& v);
            
            Vertex addVertex(const WorkspaceSphere& sphere);
            
            bool isCovered(const Vertex& parent, const ::rl::math::Vector3& point) const;
            
            Vertex begin;
            
            Vertex end;
            
            Graph graph;
            
            ::std::multiset< WorkspaceSphere > queue;
            
            ::boost::variate_generator< ::boost::mt19937, ::boost::uniform_on_sphere< ::rl::math::Real > > rand;
            
        private:
            
        };
    }
}
 
#endif // _RL_PLAN_WORKSPACESPHEREEXPLORER_H_