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// Copyright (c) 2014, LAAS-CNRS |
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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/statistics.hh" |
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#include "hpp/manipulation/constraint-set.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace graph { |
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LeafBin::LeafBin(const vector_t& v, value_type* thr) |
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: value_(v), nodes_(), thr_(thr) {} |
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void LeafBin::push_back(const RoadmapNodePtr_t& n) { nodes_.push_back(n); } |
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bool LeafBin::operator<(const LeafBin& rhs) const { |
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const vector_t& v = rhs.value(); |
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assert(value_.size() == v.size()); |
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for (int p = 0; p < value_.size(); p++) { |
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if (std::abs(value_[p] - v[p]) >= *thr_) return value_[p] < v[p]; |
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} |
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return false; |
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} |
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bool LeafBin::operator==(const LeafBin& rhs) const { |
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const vector_t& v = rhs.value(); |
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assert(value_.size() == v.size()); |
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for (int p = 0; p < value_.size(); p++) { |
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if (std::abs(value_[p] - v[p]) >= *thr_) return false; |
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} |
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return true; |
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} |
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const vector_t& LeafBin::value() const { return value_; } |
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std::ostream& LeafBin::print(std::ostream& os) const { |
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Parent::print(os) << " ("; |
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/// Sort by connected component. |
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typedef std::list<RoadmapNodes_t> NodesList_t; |
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NodesList_t l; |
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bool found; |
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for (RoadmapNodes_t::const_iterator itn = nodes_.begin(); itn != nodes_.end(); |
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++itn) { |
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found = false; |
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for (NodesList_t::iterator itc = l.begin(); itc != l.end(); ++itc) { |
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if ((*itn)->connectedComponent() == itc->front()->connectedComponent()) { |
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itc->push_back(*itn); |
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found = true; |
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break; |
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} |
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} |
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if (!found) { |
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l.push_back(RoadmapNodes_t(1, *itn)); |
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} |
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} |
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for (NodesList_t::iterator itc = l.begin(); itc != l.end(); ++itc) |
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os << itc->front()->connectedComponent() << " - " << itc->size() << ", "; |
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return os << ")."; |
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} |
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std::ostream& LeafBin::printValue(std::ostream& os) const { |
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os << "LeafBin ("; |
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size_t s = value_.size(); |
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if (s != 0) { |
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for (size_t i = 0; i < s - 1; i++) os << value_[i] << "; "; |
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os << value_[s - 1]; |
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} |
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os << ")"; |
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return os; |
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} |
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NodeBin::NodeBin(const StatePtr_t& n) : state_(n), roadmapNodes_() {} |
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void NodeBin::push_back(const RoadmapNodePtr_t& n) { |
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roadmapNodes_.push_back(n); |
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} |
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bool NodeBin::operator<(const NodeBin& rhs) const { |
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return state()->id() < rhs.state()->id(); |
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} |
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bool NodeBin::operator==(const NodeBin& rhs) const { |
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return state() == rhs.state(); |
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} |
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const StatePtr_t& NodeBin::state() const { return state_; } |
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std::ostream& NodeBin::print(std::ostream& os) const { |
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Parent::print(os) << " ("; |
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/// Sort by connected component. |
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typedef std::list<RoadmapNodes_t> NodesList_t; |
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NodesList_t l; |
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bool found; |
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for (RoadmapNodes_t::const_iterator itn = roadmapNodes_.begin(); |
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itn != roadmapNodes_.end(); ++itn) { |
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found = false; |
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for (NodesList_t::iterator itc = l.begin(); itc != l.end(); ++itc) { |
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if ((*itn)->connectedComponent() == itc->front()->connectedComponent()) { |
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itc->push_back(*itn); |
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found = true; |
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break; |
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} |
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} |
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if (!found) { |
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l.push_back(RoadmapNodes_t(1, *itn)); |
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} |
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} |
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for (NodesList_t::iterator itc = l.begin(); itc != l.end(); ++itc) |
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os << itc->front()->connectedComponent() << " - " << itc->size() << ", "; |
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return os << ")."; |
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} |
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std::ostream& NodeBin::printValue(std::ostream& os) const { |
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return os << "NodeBin (" << state()->name() << ")"; |
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} |
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LeafHistogramPtr_t LeafHistogram::create(const Foliation f) { |
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return LeafHistogramPtr_t(new LeafHistogram(f)); |
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} |
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LeafHistogram::LeafHistogram(const Foliation f) : f_(f), threshold_(0) { |
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ConfigProjectorPtr_t p = f_.parametrizer()->configProjector(); |
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if (p) { |
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if (p->rightHandSide().size() > 0) |
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threshold_ = |
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p->errorThreshold() / sqrt((double)p->rightHandSide().size()); |
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} |
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} |
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void LeafHistogram::add(const RoadmapNodePtr_t& n) { |
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if (!f_.contains(n->configuration())) return; |
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iterator it = insert(LeafBin(f_.parameter(n->configuration()), &threshold_)); |
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it->push_back(n); |
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if (numberOfObservations() % 10 == 0) { |
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hppDout(info, *this); |
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} |
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} |
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std::ostream& LeafHistogram::print(std::ostream& os) const { |
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os << "Leaf Histogram of foliation " << f_.condition()->name() << std::endl; |
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return Parent::print(os); |
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} |
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HistogramPtr_t LeafHistogram::clone() const { |
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return HistogramPtr_t(new LeafHistogram(f_)); |
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} |
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StateHistogram::StateHistogram(const graph::GraphPtr_t& graph) |
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: graph_(graph) {} |
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void StateHistogram::add(const RoadmapNodePtr_t& n) { |
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iterator it = insert(NodeBin(constraintGraph()->getState(n))); |
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it->push_back(n); |
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if (numberOfObservations() % 10 == 0) { |
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hppDout(info, *this); |
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} |
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} |
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std::ostream& StateHistogram::print(std::ostream& os) const { |
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os << "Graph State Histogram contains: " << std::endl; |
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return Parent::print(os); |
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} |
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const graph::GraphPtr_t& StateHistogram::constraintGraph() const { |
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return graph_; |
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} |
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HistogramPtr_t StateHistogram::clone() const { |
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return HistogramPtr_t(new StateHistogram(constraintGraph())); |
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} |
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unsigned int LeafBin::numberOfObsOutOfConnectedComponent( |
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const core::ConnectedComponentPtr_t& cc) const { |
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unsigned int count = 0; |
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for (RoadmapNodes_t::const_iterator it = nodes_.begin(); it != nodes_.end(); |
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++it) |
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if ((*it)->connectedComponent() != cc) count++; |
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return count; |
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} |
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statistics::DiscreteDistribution<RoadmapNodePtr_t> |
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LeafHistogram::getDistribOutOfConnectedComponent( |
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const core::ConnectedComponentPtr_t& cc) const { |
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statistics::DiscreteDistribution<RoadmapNodePtr_t> distrib; |
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for (const_iterator bin = begin(); bin != end(); ++bin) { |
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unsigned int w = bin->numberOfObsOutOfConnectedComponent(cc); |
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if (w == 0) continue; |
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distrib.insert(bin->nodes().front(), w); |
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} |
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return distrib; |
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} |
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statistics::DiscreteDistribution<RoadmapNodePtr_t> LeafHistogram::getDistrib() |
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const { |
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statistics::DiscreteDistribution<RoadmapNodePtr_t> distrib; |
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for (const_iterator bin = begin(); bin != end(); ++bin) { |
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std::size_t w = bin->freq(); |
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if (w == 0) continue; |
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distrib.insert(bin->nodes().front(), w); |
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} |
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return distrib; |
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} |
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const LeafBin::RoadmapNodes_t& LeafBin::nodes() const { return nodes_; } |
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bool Foliation::contains(ConfigurationIn_t q) const { |
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return condition_->isSatisfied(q); |
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} |
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vector_t Foliation::parameter(ConfigurationIn_t q) const { |
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if (!condition_->isSatisfied(q)) { |
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hppDout(error, "Configuration not in the foliation"); |
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} |
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return parametrizer_->configProjector()->rightHandSideFromConfig(q); |
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} |
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ConstraintSetPtr_t Foliation::condition() const { return condition_; } |
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void Foliation::condition(const ConstraintSetPtr_t c) { condition_ = c; } |
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ConstraintSetPtr_t Foliation::parametrizer() const { return parametrizer_; } |
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void Foliation::parametrizer(const ConstraintSetPtr_t p) { parametrizer_ = p; } |
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} // namespace graph |
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} // namespace manipulation |
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} // namespace hpp |
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