ObstacleBasedSampler.h

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#ifndef OBSTACLE_BASED_SAMPLER_H_
#define OBSTACLE_BASED_SAMPLER_H_
 
#include "SamplerMethod.h"
 
class ObstacleBasedSampler : virtual public SamplerMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType GroupCfgType;
    typedef std::map<Robot*, const Boundary*> BoundaryMap;
 
 
    ObstacleBasedSampler(string _vcLabel = "", string _dmLabel = "",
        int _free = 1, int _coll = 0, double _step = 0,
        bool _useBBX = true, string _pointSelection = "cspace");
 
    ObstacleBasedSampler(XMLNode& _node);
 
    virtual ~ObstacleBasedSampler() = default;
 
 
    virtual void Print(ostream& _os) const override;
 
 
  protected:
 
    // ///@name XML Parser
    // ///@{
 
    // void ParseXML(XMLNode& _node);
 
    // ///@}
    
    virtual bool Sampler(Cfg& _cfg, const Boundary* const _boundary,
        std::vector<Cfg>& _result, std::vector<Cfg>& _collision);
    
    virtual bool Sampler(GroupCfgType& _cfg, const Boundary* const _boundary,
        std::vector<GroupCfgType>& _result, std::vector<GroupCfgType>& _invalid);
 
    virtual bool Sampler(GroupCfgType& _cfg, const BoundaryMap& _boundaryMap,
        std::vector<GroupCfgType>& _result, std::vector<GroupCfgType>& _collision);
 
    void GenerateShells(const Boundary* const _boundary,
        Cfg& _cFree, Cfg& _cColl, Cfg& _incr,
        std::vector<Cfg>& _result, std::vector<Cfg>& _collision);
 
    void GenerateShells(const Boundary* const _boundary,
        GroupCfgType& _cFree, GroupCfgType& _cColl, GroupCfgType& _incr,
        std::vector<GroupCfgType>& _result, std::vector<GroupCfgType>& _collision);
    
    // void GenerateShells(const Environment* const _environment,
    void GenerateShells(const BoundaryMap& _boundaryMap,
        GroupCfgType& _cFree, GroupCfgType& _cColl, GroupCfgType& _incr,
        std::vector<GroupCfgType>& _result, std::vector<GroupCfgType>& _collision);
 
    Cfg ChooseCenterOfMass(MultiBody* _mBody);
 
    // Returns a Cfg at a random vertex of the MultiBody
    Cfg ChooseRandomVertex(MultiBody* _mBody);
 
    Vector3d ChoosePointOnTriangle(Vector3d _p, Vector3d _q, Vector3d _r);
 
    Cfg ChooseRandomWeightedTriangle(MultiBody* _mBody);
 
    Cfg ChooseRandomTriangle(MultiBody* _mBody);
 
    Cfg ChooseExtremeVertex(MultiBody* _mBody);
 
    virtual Cfg ChooseASample(Cfg& _cfg);
 
    virtual GroupCfgType ChooseASample(GroupCfgType& _cfg);
 
    Cfg ChooseASampleOtherMethods();
 
    Cfg GetCfgWithParams(const Vector3d& _v);
 
    bool GroupInBounds(GroupCfgType& _groupCfg, const BoundaryMap& _boundaryMap);
 
    bool GroupInBounds(GroupCfgType& _groupCfg, const Boundary* const _boundary);
 
  private:
 
    
    string m_vcLabel, m_dmLabel; 
    int m_nShellsFree, m_nShellsColl; 
    double m_stepSize; 
    bool m_useBBX; 
    string m_pointSelection; 
 
};
 
#endif