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// Copyright (c) 2016, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include <hpp/manipulation/graph/state.hh> |
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#include <hpp/manipulation/leaf-connected-comp.hh> |
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#include <hpp/manipulation/roadmap.hh> |
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namespace hpp { |
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namespace manipulation { |
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void LeafConnectedComp::clean(LeafConnectedComps_t& set) { |
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for (LeafConnectedComps_t::iterator it = set.begin(); it != set.end(); ++it) { |
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(*it)->explored_ = false; |
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} |
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} |
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LeafConnectedCompPtr_t LeafConnectedComp::create(const RoadmapPtr_t& roadmap) { |
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LeafConnectedCompPtr_t shPtr = |
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LeafConnectedCompPtr_t(new LeafConnectedComp(roadmap)); |
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shPtr->init(shPtr); |
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return shPtr; |
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} |
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void LeafConnectedComp::addNode(const RoadmapNodePtr_t& node) { |
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assert(state_); |
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graph::StatePtr_t state = roadmap_.lock()->getState(node); |
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// Sanity check |
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if (state_ == state) // Oops |
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throw std::runtime_error( |
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"RoadmapNode of LeafConnectedComp must be in" |
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" the same state"); |
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nodes_.push_back(node); |
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} |
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void LeafConnectedComp::setFirstNode(const RoadmapNodePtr_t& node) { |
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assert(!state_); |
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state_ = roadmap_.lock()->getState(node); |
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nodes_.push_back(node); |
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} |
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bool LeafConnectedComp::canReach(const LeafConnectedCompPtr_t& cc) { |
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// Store visited connected components for further cleaning. |
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LeafConnectedComp::LeafConnectedComps_t explored; |
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std::deque<RawPtr_t> queue; |
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queue.push_back(this); |
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explored_ = true; |
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explored.insert(this); |
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while (!queue.empty()) { |
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RawPtr_t current = queue.front(); |
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queue.pop_front(); |
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if (current == cc.get()) { |
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clean(explored); |
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return true; |
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} |
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for (LeafConnectedComp::LeafConnectedComps_t::iterator itChild = |
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current->to_.begin(); |
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itChild != current->to_.end(); ++itChild) { |
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RawPtr_t child = *itChild; |
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if (!child->explored_) { |
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child->explored_ = true; |
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explored.insert(child); |
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queue.push_back(child); |
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} |
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} |
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} |
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clean(explored); |
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return false; |
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} |
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bool LeafConnectedComp::canReach( |
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const LeafConnectedCompPtr_t& cc, |
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LeafConnectedComp::LeafConnectedComps_t& ccToThis) { |
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bool reachable = false; |
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// Store visited connected components |
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LeafConnectedComp::LeafConnectedComps_t exploredForward; |
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std::deque<RawPtr_t> queue; |
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queue.push_back(this); |
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explored_ = true; |
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exploredForward.insert(this); |
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while (!queue.empty()) { |
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RawPtr_t current = queue.front(); |
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queue.pop_front(); |
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if (current == cc.get()) { |
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reachable = true; |
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exploredForward.insert(current); |
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} else { |
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for (LeafConnectedComp::LeafConnectedComps_t::iterator itChild = |
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current->to_.begin(); |
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itChild != current->to_.end(); ++itChild) { |
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RawPtr_t child = *itChild; |
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if (!child->explored_) { |
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child->explored_ = true; |
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exploredForward.insert(child); |
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queue.push_back(child); |
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} |
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} |
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} |
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} |
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// Set visited connected components to unexplored |
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clean(exploredForward); |
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if (!reachable) return false; |
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// Store visited connected components |
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LeafConnectedComps_t exploredBackward; |
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queue.push_back(cc.get()); |
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cc->explored_ = true; |
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exploredBackward.insert(cc.get()); |
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while (!queue.empty()) { |
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RawPtr_t current = queue.front(); |
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queue.pop_front(); |
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if (current == this) { |
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exploredBackward.insert(current); |
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} else { |
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for (LeafConnectedComps_t::iterator itChild = current->from_.begin(); |
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itChild != current->from_.end(); ++itChild) { |
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RawPtr_t child = *itChild; |
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if (!child->explored_) { |
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child->explored_ = true; |
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exploredBackward.insert(child); |
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queue.push_back(child); |
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} |
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} |
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} |
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} |
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// Set visited connected components to unexplored |
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clean(exploredBackward); |
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std::set_intersection(exploredForward.begin(), exploredForward.end(), |
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exploredBackward.begin(), exploredBackward.end(), |
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std::inserter(ccToThis, ccToThis.begin())); |
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return true; |
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} |
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void LeafConnectedComp::merge(const LeafConnectedCompPtr_t& other) { |
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assert(other); |
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assert(weak_.lock().get() == this); |
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// Tell other's nodes that they now belong to this connected component |
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for (RoadmapNodes_t::iterator itNode = other->nodes_.begin(); |
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itNode != other->nodes_.end(); ++itNode) { |
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(*itNode)->leafConnectedComponent(weak_.lock()); |
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} |
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// Add other's nodes to this list. |
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nodes_.insert(nodes_.end(), other->nodes_.begin(), other->nodes_.end()); |
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// Tell other's reachableTo's that other has been replaced by this |
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for (LeafConnectedComps_t::iterator itcc = other->to_.begin(); |
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itcc != other->to_.end(); ++itcc) { |
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(*itcc)->from_.erase(other.get()); |
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(*itcc)->from_.insert(this); |
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} |
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// Tell other's reachableFrom's that other has been replaced by this |
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for (LeafConnectedComps_t::iterator itcc = other->from_.begin(); |
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itcc != other->from_.end(); ++itcc) { |
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(*itcc)->to_.erase(other.get()); |
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(*itcc)->to_.insert(this); |
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} |
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LeafConnectedComps_t tmp; |
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std::set_union(to_.begin(), to_.end(), other->to_.begin(), other->to_.end(), |
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std::inserter(tmp, tmp.begin())); |
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to_ = tmp; |
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tmp.clear(); |
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to_.erase(other.get()); |
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to_.erase(this); |
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std::set_union(from_.begin(), from_.end(), other->from_.begin(), |
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other->from_.end(), std::inserter(tmp, tmp.begin())); |
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from_ = tmp; |
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tmp.clear(); |
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from_.erase(other.get()); |
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from_.erase(this); |
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} |
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WeighedLeafConnectedCompPtr_t WeighedLeafConnectedComp::create( |
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const RoadmapPtr_t& roadmap) { |
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WeighedLeafConnectedCompPtr_t shPtr = |
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WeighedLeafConnectedCompPtr_t(new WeighedLeafConnectedComp(roadmap)); |
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shPtr->init(shPtr); |
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return shPtr; |
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} |
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void WeighedLeafConnectedComp::merge(const LeafConnectedCompPtr_t& otherCC) { |
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WeighedLeafConnectedCompPtr_t other = |
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HPP_DYNAMIC_PTR_CAST(WeighedLeafConnectedComp, otherCC); |
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value_type r = ((value_type)nodes_.size()) / |
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(value_type)(nodes_.size() + other->nodes_.size()); |
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LeafConnectedComp::merge(otherCC); |
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weight_ *= other->weight_; // TODO a geometric mean would be more natural. |
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p_ = r * p_ + (1 - r) * other->p_; |
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} |
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void WeighedLeafConnectedComp::setFirstNode(const RoadmapNodePtr_t& node) { |
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LeafConnectedComp::setFirstNode(node); |
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std::vector<value_type> p = state_->neighbors().probabilities(); |
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p_.resize(p.size()); |
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edges_ = state_->neighbors().values(); |
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for (std::size_t i = 0; i < p.size(); ++i) p_[i] = p[i]; |
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} |
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std::size_t WeighedLeafConnectedComp::indexOf(const graph::EdgePtr_t e) const { |
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std::size_t i = 0; |
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for (; i < edges_.size(); ++i) |
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if (edges_[i] == e) break; |
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return i; |
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} |
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} // namespace manipulation |
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} // namespace hpp |
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