GridOverlay.h

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#ifndef PMPL_GRID_OVERLAY_H_
#define PMPL_GRID_OVERLAY_H_
 
#include "ConfigurationSpace/Cfg.h"
 
#include "Transformation.h"
#include "Vector.h"
 
#include <array>
#include <memory>
#include <unordered_set>
#include <vector>
 
class Boundary;
class GMSPolyhedron;
class WorkspaceBoundingBox;
class WorkspaceDecomposition;
class WorkspaceRegion;
 
 
class GridOverlay {
 
  public:
 
 
    typedef std::vector<std::vector<const WorkspaceRegion*>> DecompositionMap;
 
    typedef std::array<size_t, 3> IndexSet;
 
    enum class CellSet : unsigned char {Boundary = 1, Interior = 2, Closure = 3};
 
 
    GridOverlay(const Boundary* const _b, const double _length);
 
    ~GridOverlay() noexcept;
 
 
    size_t Size() const noexcept;
 
    size_t Size(const size_t _i) const noexcept;
 
    size_t LocateCell(const Cfg& _cfg) const;
 
    size_t LocateCell(const Point3d& _p) const;
 
    std::unordered_set<size_t> LocateCells(const Boundary* const _b,
        const CellSet _type = CellSet::Closure) const;
 
    std::unordered_set<size_t> LocateCells(const GMSPolyhedron& _polyhedron,
        const mathtool::Transformation& _transformation = {},
        const CellSet _type = CellSet::Closure) const;
 
    std::unordered_set<size_t> LocateBBXCells(const Boundary* const _b) const;
 
    std::unordered_set<size_t> LocateBBXCells(const Point3d& _min,
        const Point3d& _max) const;
 
    std::unordered_set<size_t> LocateFacetNeighbors(const size_t _index) const;
 
    std::unordered_set<size_t> LocateEdgeNeighbors(const size_t _index) const;
 
    std::unordered_set<size_t> LocateVertexNeighbors(const size_t _index) const;
 
    std::unordered_set<size_t> LocateAllNeighbors(const size_t _index) const;
 
 
    double CellLength() const noexcept;
 
    Point3d CellCenter(const size_t _index) const noexcept;
 
 
    DecompositionMap ComputeDecompositionMap(
        const WorkspaceDecomposition* const _decomposition,
        const bool _useCollisionDetection = false) const;
 
 
  private:
 
 
    IndexSet Cell(const Point3d& _p) const noexcept;
 
    size_t CellIndex(const size_t _x, const size_t _y, const size_t _z) const
      noexcept;
 
    size_t CellIndex(const IndexSet& _indexes) const noexcept;
 
    size_t ZIndex(const size_t _index) const noexcept;
 
    size_t YIndex(const size_t _index) const noexcept;
 
    size_t XIndex(const size_t _index) const noexcept;
 
    bool InGrid(const IndexSet& _indexes) const noexcept;
 
 
    const Boundary* const m_boundary; 
 
    const double m_length;            
    size_t m_num[3];                  
 
    static constexpr bool m_debug{false};  
 
    mutable std::unique_ptr<GMSPolyhedron> m_polyhedron; 
 
 
  public:
 
 
    void Test(const size_t _trials = 0) const;
 
 
};
 
#endif