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Directory: ./
File: include/hpp/manipulation/graph/statistics.hh
Date: 2025-03-07 11:10:46
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1 // Copyright (c) 2014, LAAS-CNRS
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // 1. Redistributions of source code must retain the above copyright
10 // notice, this list of conditions and the following disclaimer.
11 //
12 // 2. Redistributions in binary form must reproduce the above copyright
13 // notice, this list of conditions and the following disclaimer in the
14 // documentation and/or other materials provided with the distribution.
15 //
16 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27 // DAMAGE.
28
29 #ifndef HPP_MANIPULATION_GRAPH_STATISTICS_HH
30 #define HPP_MANIPULATION_GRAPH_STATISTICS_HH
31
32 #include <hpp/manipulation/roadmap-node.hh>
33 #include <hpp/statistics/bin.hh>
34 #include <hpp/util/debug.hh>
35
36 #include "hpp/manipulation/config.hh"
37 #include "hpp/manipulation/fwd.hh"
38 #include "hpp/manipulation/graph/graph.hh"
39 #include "hpp/manipulation/graph/state.hh"
40
41 namespace hpp {
42 namespace manipulation {
43 namespace graph {
44 /// This class is used to do statistics on the roadmap.
45 /// It keeps a track of which leaves of a foliation have been visited.
46 class HPP_MANIPULATION_DLLAPI LeafBin : public ::hpp::statistics::Bin {
47 public:
48 typedef ::hpp::statistics::Bin Parent;
49 typedef std::list<RoadmapNodePtr_t> RoadmapNodes_t;
50
51 LeafBin(const vector_t& v, value_type* threshold_);
52
53 void push_back(const RoadmapNodePtr_t& n);
54
55 bool operator<(const LeafBin& rhs) const;
56
57 bool operator==(const LeafBin& rhs) const;
58
59 const vector_t& value() const;
60
61 std::ostream& print(std::ostream& os) const;
62
63 unsigned int numberOfObsOutOfConnectedComponent(
64 const core::ConnectedComponentPtr_t& cc) const;
65
66 const RoadmapNodes_t& nodes() const;
67
68 private:
69 vector_t value_;
70
71 RoadmapNodes_t nodes_;
72
73 value_type* thr_;
74
75 std::ostream& printValue(std::ostream& os) const;
76 };
77
78 /// This class is used to do statistics on the roadmap.
79 /// It keeps a track of which nodes of the constraint graph have been visited.
80 class HPP_MANIPULATION_DLLLOCAL NodeBin : public ::hpp::statistics::Bin {
81 public:
82 typedef ::hpp::statistics::Bin Parent;
83 NodeBin(const StatePtr_t& n);
84
85 void push_back(const RoadmapNodePtr_t& n);
86
87 bool operator<(const NodeBin& rhs) const;
88
89 bool operator==(const NodeBin& rhs) const;
90
91 const StatePtr_t& state() const;
92
93 std::ostream& print(std::ostream& os) const;
94
95 private:
96 StatePtr_t state_;
97
98 typedef std::list<RoadmapNodePtr_t> RoadmapNodes_t;
99 RoadmapNodes_t roadmapNodes_;
100
101 std::ostream& printValue(std::ostream& os) const;
102 };
103
104 class HPP_MANIPULATION_DLLLOCAL Histogram {
105 public:
106 4 virtual ~Histogram() {};
107
108 virtual void add(const RoadmapNodePtr_t& node) = 0;
109
110 virtual HistogramPtr_t clone() const = 0;
111
112 virtual void clear() = 0;
113 };
114
115 /// This class represents a foliation of a submanifold of the configuration
116 /// space.
117 /// Such a foliation is defined by the two following functions:
118 /// \li a condition $f$ such that the submanifold is
119 /// $\mathcal{M}= \left{q \in \mathbb{C} | f(q)=0 \right}$
120 /// \li a parametrizer $g$ such that the leaf of this foliation is a level
121 /// set of $g$.
122 class HPP_MANIPULATION_DLLAPI Foliation {
123 public:
124 /// Whether the configuration is the submanifold $\mathcal{M}$
125 bool contains(ConfigurationIn_t q) const;
126 /// Whether the configuration is the submanifold $\mathcal{M}$
127 vector_t parameter(ConfigurationIn_t q) const;
128
129 void condition(const ConstraintSetPtr_t c);
130 ConstraintSetPtr_t condition() const;
131 void parametrizer(const ConstraintSetPtr_t p);
132 ConstraintSetPtr_t parametrizer() const;
133
134 private:
135 // condition_ contains the constraints defining the submanifold
136 // containing all the leaf.
137 // parametrizer_ contains the constraints providing a parametrization
138 // of the foliation.
139 ConstraintSetPtr_t condition_, parametrizer_;
140 };
141
142 class HPP_MANIPULATION_DLLAPI LeafHistogram
143 : public ::hpp::statistics::Statistics<LeafBin>,
144 public Histogram {
145 public:
146 typedef ::hpp::statistics::Statistics<LeafBin> Parent;
147
148 static LeafHistogramPtr_t create(const Foliation f);
149
150 /// Insert an occurence of a value in the histogram
151 void add(const RoadmapNodePtr_t& n);
152
153 std::ostream& print(std::ostream& os) const;
154
155 virtual HistogramPtr_t clone() const;
156
157 statistics::DiscreteDistribution<RoadmapNodePtr_t>
158 getDistribOutOfConnectedComponent(
159 const core::ConnectedComponentPtr_t& cc) const;
160
161 statistics::DiscreteDistribution<RoadmapNodePtr_t> getDistrib() const;
162
163 ✗ void clear() { Parent::clear(); }
164
165 const Foliation& foliation() const { return f_; }
166
167 protected:
168 /// Constructor
169 /// \param state defines the submanifold containing the foliation.
170 /// \param constraint The constraint that create the foliation being
171 /// studied.
172 LeafHistogram(const Foliation f);
173
174 private:
175 Foliation f_;
176
177 /// Threshold used for equality between offset values.
178 value_type threshold_;
179 };
180
181 class HPP_MANIPULATION_DLLLOCAL StateHistogram
182 : public ::hpp::statistics::Statistics<NodeBin>,
183 public Histogram {
184 public:
185 typedef ::hpp::statistics::Statistics<NodeBin> Parent;
186 /// Constructor
187 /// \param graph The constraint graph used to get the states from
188 /// a configuration.
189 StateHistogram(const graph::GraphPtr_t& graph);
190
191 /// Insert an occurence of a value in the histogram
192 void add(const RoadmapNodePtr_t& n);
193
194 std::ostream& print(std::ostream& os) const;
195
196 const graph::GraphPtr_t& constraintGraph() const;
197
198 virtual HistogramPtr_t clone() const;
199
200 ✗ void clear() { Parent::clear(); }
201
202 private:
203 /// The constraint graph
204 graph::GraphPtr_t graph_;
205 };
206 typedef shared_ptr<StateHistogram> NodeHistogramPtr_t;
207 } // namespace graph
208 } // namespace manipulation
209 } // namespace hpp
210
211 #endif // HPP_MANIPULATION_GRAPH_STATISTICS_HH
212