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
// 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
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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 "Metric.h"
#include "NearestNeighbors.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;
            
            NearestNeighbors* getNearestNeighbors() const;
            
            ::std::size_t getNumEdges() const;
            
            ::std::size_t getNumVertices() const;
            
            VectorList getPath();
            
            void reset();
            
            void setNearestNeighbors(NearestNeighbors* nearestNeighbors);
            
            bool solve();
            
            ::std::size_t degree;
            
            ::std::size_t k;
            
            ::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;
            
            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 NearestNeighbors::Neighbor Neighbor;
            
            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;
            
            Edge addEdge(const Vertex& u, const Vertex& v, const ::rl::math::Real& weight);
            
            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