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() = default;
                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() = default;
                std::vector<Vertex> pts;
            };
 
            struct Triangle : public Polygon
            {
                Triangle() : Polygon(3)
                {
                }
                ~Triangle() override = default;
                std::vector<int> neighbors;
                double volume;
            };
 
            TriangularDecomposition(const base::RealVectorBounds &bounds,
                                    std::vector<Polygon> holes = std::vector<Polygon>(),
                                    std::vector<Polygon> intRegs = std::vector<Polygon>());
 
            ~TriangularDecomposition() override;
 
            int getNumRegions() const override
            {
                return triangles_.size();
            }
 
            double getRegionVolume(int triID) override;
 
            void getNeighbors(int triID, std::vector<int> &neighbors) const override;
 
            int locateRegion(const base::State *s) const override;
 
            void sampleFromRegion(int triID, RNG &rng, std::vector<double> &coord) const override;
 
            void setup();
 
            void addHole(const Polygon &hole);
 
            void addRegionOfInterest(const Polygon &region);
 
            int getNumHoles() const;
 
            int getNumRegionsOfInterest() const;
 
            const std::vector<Polygon> &getHoles() const;
 
            const std::vector<Polygon> &getAreasOfInterest() 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)
                {
                }
 
                ~LocatorGrid() override = default;
 
                void project(const base::State *s, std::vector<double> &coord) const override
                {
                    triDecomp->project(s, coord);
                }
 
                void sampleFullState(const base::StateSamplerPtr & /*sampler*/, const std::vector<double> & /*coord*/,
                                     base::State * /*s*/) const override
                {
                }
 
                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