MPUtils.h File Reference

#include <functional>
#include <iostream>
#include <limits>
#include <map>
#include <memory>
#include <string>
#include <algorithm>
#include <containers/sequential/graph/algorithms/connected_components.h>
#include "Vector.h"
#include "IOUtils.h"
#include <boost/math/special_functions/binomial.hpp>
#include <boost/math/special_functions/factorials.hpp>

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Data Structures
struct	CompareSecond< T, U >
struct	CompareSecondReverse< T, U >
struct	NullOutputIterator

MPUtils
#define	MAX_INT   std::numeric_limits<int>::max()
#define	MAX_DBL   std::numeric_limits<double>::max()
template<typename T >
const T	Epsilon (const T &_t1, const T &_t2)
double	DRand ()
long	LRand ()
long	MRand ()
double	GRand (bool _reset=false)
double	GaussianDistribution (double _mean, double _stdev)
	Same as GRand, but one can specify the mean and stdev of the distribution. More...
void	SRand (const unsigned long _seed)
	Use seedval as the seed. More...
double	Normalize (const double &_a)
	Normalize a value into the range [-1,1). More...
double	TriangleHeight (const Point3d &_a, const Point3d &_b, const Point3d &_c)
bool	PtInTriangle (const Point2d &_a, const Point2d &_b, const Point2d &_c, const Point2d &_p)
bool	PtInTriangle (const Point2d &_a, const Point2d &_b, const Point2d &_c, const Point2d &_p, double &_u, double &_v)
Point3d	GetPtFromBarycentricCoords (const Point3d &_a, const Point3d &_b, const Point3d &_c, double _u, double _v)
double	NormalizeTheta (double _theta)
template<class CfgType , class Environment >
bool	IsWithinResolution (const CfgType &_cfg1, const CfgType &_cfg2, Environment *_env)
template<class CfgType >
CfgType	ClosestPtOnLineSegment (const CfgType &_ref, const CfgType &_p1, const CfgType &_p2)
bool	binom_test (double _alpha, size_t _n, size_t _k, double _p)
double	binomial (size_t _n, size_t _k, double _p)
template<class RandomIterator , class T , class Compare = std::less<T>>
RandomIterator	BinarySearch (RandomIterator _begin, RandomIterator _end, const T &_value, Compare _comparator=Compare())
std::vector< Cfg >	LoadPath (const std::string &_filename, Robot *_robot)
	Loads a configuration path from a file for a dynamic obstacle. More...
template<typename T >
T	Identity (const T &_t) noexcept

Macro Definition Documentation

MAX_DBL

#define MAX_DBL   std::numeric_limits<double>::max()

MAX_INT

#define MAX_INT   std::numeric_limits<int>::max()

Function Documentation

BinarySearch()

template<class RandomIterator , class T , class Compare = std::less<T>>

RandomIterator BinarySearch	(	RandomIterator	_begin,
		RandomIterator	_end,
		const T &	_value,
		Compare	_comparator = Compare()
	)

Search a random-access container using binary search. Needed for std::vector because std::find cannot know whether the elements are sorted without doing a linear scan.

binom_test()

bool binom_test	(	double	_alpha,
		size_t	_n,
		size_t	_k,
		double	_p
	)

Given a significance level, the number of trials, the number of successes and the probability of success. Conduct a two-sided p-test.

Parameters

_alpha	The reference configuration.
_n	The number of trials conducted
_k	The number of trial successes
_p	The probability of success for the null. The assumed true value of success

Returns

If we fail to reject the null (true) and if we have enough evidence to reject the null (false).

binomial()

double binomial	(	size_t	_n,
		size_t	_k,
		double	_p
	)

Given the number of trials, the number of successes, and the probability of success, returns the probability density function evaluated k.

Parameters

_n	The number of trials
_k	The number of successes we are interested in
_p	The probability of success

Returns

The pdf of a binomial random variable evaluated at binom(n,k)

ClosestPtOnLineSegment()

template<class CfgType >

CfgType ClosestPtOnLineSegment	(	const CfgType &	_ref,
		const CfgType &	_p1,
		const CfgType &	_p2
	)

Given a reference configuration and a line segment in C-space, find the closest point on the line segment to the reference configuration.

Parameters

_ref	The reference configuration.
_p1	The first endpoint of the line segment.
_p2	The second endpoint of the line segment.

Returns

The closest point to _ref on the segment from _p1 to _p2.

DRand()

double DRand

(

)

Return non-negative double-prevision floating-point values uniformly distributed over the interval [0.0, 1.0).

Epsilon()

template<typename T >

const T Epsilon	(	const T &	_t1,
		const T &	_t2
	)

Variable resolution epsilon for doubles and float. This number is based upon the resolution of the lower magnitude value between _t1 and _t2.

GaussianDistribution()

double GaussianDistribution	(	double	_mean,
		double	_stdev
	)

Same as GRand, but one can specify the mean and stdev of the distribution.

GetPtFromBarycentricCoords()

Point3d GetPtFromBarycentricCoords	(	const Point3d &	_a,
		const Point3d &	_b,
		const Point3d &	_c,
		double	_u,
		double	_v
	)

Given triange defined by _a, _b, _c, return the point inside triangle defined by barycentric coordinates _u, _v.

GRand()

double GRand

(

bool

_reset = false

)

Return normally(gaussian) distributed random numbers via the Marsaglia polar method.

Parameters

_reset

If true, clear internal cache and return 0.

Identity()

template<typename T >

T Identity ( const T &  _t )

noexcept

IsWithinResolution()

template<class CfgType , class Environment >

bool IsWithinResolution	(	const CfgType &	_cfg1,
		const CfgType &	_cfg2,
		Environment *	_env
	)

Determine whether two configurations are within a resolution unit of each other.

Parameters

_cfg1	The first configuration.
_cfg2	The second configuration.

Returns

A bool indicating whether the two cfgs are separated by no more than one resolution unit.

LoadPath()

std::vector<Cfg> LoadPath	(	const std::string &	_filename,
		Robot *	_robot
	)

Loads a configuration path from a file for a dynamic obstacle.

LRand()

long LRand

(

)

Return non-negative long integers uniformly distributed over the interval [0, 2**31).

MRand()

long MRand

(

)

Return signed long integers uniformly distributed over the interval [-2**31, 2**31).

Normalize()

double Normalize

(

const double &

_a

)

Normalize a value into the range [-1,1).

NormalizeTheta()

double NormalizeTheta

(

double

_theta

)

Normalize an angle to standard range.

Parameters

_theta

The angle to normalize.

Returns

Normalized representation of _theta in the range -PI to PI.

PtInTriangle() [1/2]

bool PtInTriangle	(	const Point2d &	_a,
		const Point2d &	_b,
		const Point2d &	_c,
		const Point2d &	_p
	)

Check if a 2d point lies inside the triangle defined by three other points.

Parameters

_a	The first triangle vertex.
_b	The second triangle vertex.
_c	The third triangle vertex.
_p	The query point.

Returns

True if _p is inside triangle _a_b_c, or false otherwise.

PtInTriangle() [2/2]

bool PtInTriangle	(	const Point2d &	_a,
		const Point2d &	_b,
		const Point2d &	_c,
		const Point2d &	_p,
		double &	_u,
		double &	_v
	)

Check if a 2d point lies inside the triangle defined by three other points.

Parameters

_a	The first triangle vertex.
_b	The second triangle vertex.
_c	The third triangle vertex.
_p	The query point.
_u	The barycentric coordinate factor for _b.
_v	The barycentric coordinate factor for _c.

Returns

True if _p is inside triangle _a_b_c, or false otherwise.

SRand()

void SRand

(

const unsigned long

_seed

)

Use seedval as the seed.

TriangleHeight()

double TriangleHeight	(	const Point3d &	_a,
		const Point3d &	_b,
		const Point3d &	_c
	)

Determine height of triangle defined by three points.

Parameters

_a	The first triangle vertex.
_b	The second triangle vertex.
_c	The third triangle vertex.

Returns

The height of the triangle.