leaf-connected-comp.hh

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//
// Copyright (c) 2016 CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. 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 CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
#define HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH
 
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
#include <hpp/manipulation/roadmap-node.hh>
 
namespace hpp {
namespace manipulation {
class HPP_MANIPULATION_DLLAPI LeafConnectedComp {
 public:
  typedef LeafConnectedComp* RawPtr_t;
  typedef std::set<RawPtr_t> LeafConnectedComps_t;
  static LeafConnectedCompPtr_t create(const RoadmapPtr_t& roadmap);
 
  virtual void merge(const LeafConnectedCompPtr_t& otherCC);
 
  bool canReach(const LeafConnectedCompPtr_t& cc);
 
  bool canReach(const LeafConnectedCompPtr_t& cc,
                LeafConnectedComp::LeafConnectedComps_t& cc2Tocc1);
 
  void addNode(const RoadmapNodePtr_t& node);
 
  virtual void setFirstNode(const RoadmapNodePtr_t& node);
 
  core::ConnectedComponentPtr_t connectedComponent() const {
    assert(!nodes_.empty());
    return nodes_.front()->connectedComponent();
  };
 
  const RoadmapNodes_t& nodes() const { return nodes_; }
 
  LeafConnectedCompPtr_t self() { return weak_.lock(); }
 
  const LeafConnectedComp::LeafConnectedComps_t& from() const { return from_; }
 
  const LeafConnectedComp::LeafConnectedComps_t& to() const { return to_; }
 
 protected:
  LeafConnectedComp(const RoadmapPtr_t& r) : roadmap_(r) {}
 
  void init(const LeafConnectedCompWkPtr_t& shPtr) { weak_ = shPtr; }
 
  graph::StatePtr_t state_;
  RoadmapNodes_t nodes_;
 
  LeafConnectedComp() {}
 
 private:
  static void clean(LeafConnectedComps_t& set);
  // status variable to indicate whether or not CC has been visited
  mutable bool explored_;
  RoadmapWkPtr_t roadmap_;
  LeafConnectedComps_t to_, from_;
  LeafConnectedCompWkPtr_t weak_;
  friend class Roadmap;
 
  HPP_SERIALIZABLE();
};  // class LeafConnectedComp
 
class HPP_MANIPULATION_DLLAPI WeighedLeafConnectedComp
    : public LeafConnectedComp {
 public:
  void merge(const LeafConnectedCompPtr_t& otherCC);
 
  void setFirstNode(const RoadmapNodePtr_t& node);
 
  static WeighedLeafConnectedCompPtr_t create(const RoadmapPtr_t& roadmap);
 
  std::size_t indexOf(const graph::EdgePtr_t e) const;
 
  void normalizeProba() {
    const value_type s = p_.sum();
    p_ /= s;
  }
 
  value_type weight_;
  vector_t p_;
  std::vector<graph::EdgePtr_t> edges_;
 
 protected:
  WeighedLeafConnectedComp(const RoadmapPtr_t& r)
      : LeafConnectedComp(r), weight_(1) {}
 
 private:
  WeighedLeafConnectedComp() {}
  HPP_SERIALIZABLE();
};  // class LeafConnectedComp
}  //   namespace manipulation
}  // namespace hpp
#endif  // HPP_MANIPULATION_LEAF_CONNECTED_COMP_HH