WorkspaceDecomposition.h

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#ifndef WORKSPACE_DECOMPOSITION_H
#define WORKSPACE_DECOMPOSITION_H
 
#include <vector>
 
#include <containers/sequential/graph/graph.h>
#include "Vector.h"
 
#include "WorkspacePortal.h"
#include "WorkspaceRegion.h"
#include "Utilities/PMPLExceptions.h"
 
class WorkspaceDecomposition : public stapl::sequential::graph<stapl::DIRECTED,
                                        stapl::NONMULTIEDGES, WorkspaceRegion,
                                        WorkspacePortal>{
 
  public:
 
 
    typedef stapl::sequential::graph<stapl::DIRECTED, stapl::NONMULTIEDGES,
        WorkspaceRegion, WorkspacePortal> RegionGraph;
 
    typedef typename RegionGraph::vertex_iterator         iterator;
    typedef typename RegionGraph::const_vertex_iterator   const_iterator;
 
    typedef typename RegionGraph::edge_iterator           edge_iterator;
    typedef typename RegionGraph::const_edge_iterator     const_edge_iterator;
 
    typedef typename RegionGraph::adj_edge_iterator       adj_edge_iterator;
    typedef typename RegionGraph::const_adj_edge_iterator const_adj_edge_iterator;
 
    typedef typename RegionGraph::vertex_descriptor       vertex_descriptor;
    typedef typename RegionGraph::edge_descriptor         edge_descriptor;
 
    typedef stapl::sequential::graph<stapl::DIRECTED, stapl::NONMULTIEDGES,
        Vector3d, double> DualGraph;
 
 
    WorkspaceDecomposition();
 
    WorkspaceDecomposition(const WorkspaceDecomposition&);
    WorkspaceDecomposition(WorkspaceDecomposition&&);
 
    virtual ~WorkspaceDecomposition();
 
 
    WorkspaceDecomposition& operator=(const WorkspaceDecomposition&);
    WorkspaceDecomposition& operator=(WorkspaceDecomposition&&);
 
 
    const size_t GetNumPoints() const noexcept;
 
    const Point3d& GetPoint(const size_t _i) const noexcept;
 
    const std::vector<Point3d>& GetPoints() const noexcept;
 
 
    const size_t GetNumRegions() const noexcept;
 
    const WorkspaceRegion& GetRegion(const size_t _i) const noexcept;
 
    const vertex_descriptor GetDescriptor(const WorkspaceRegion& _region) const
        noexcept;
 
 
    const WorkspacePortal& GetPortal(const size_t _i1, const size_t _i2) const
        noexcept;
 
 
    DualGraph& GetDualGraph() noexcept;
    const DualGraph& GetDualGraph() const noexcept;
 
 
    void AddPoint(const Point3d& _p);
 
    void AddTetrahedralRegion(const int _pts[4]);
 
    void AddPortal(const size_t _r1, const size_t _r2);
 
    void Finalize();
 
 
    void Print(std::ostream& _os) const;
 
    void WriteObj(const std::string& _filename) const;
 
 
    std::vector<size_t> FindPath(const size_t _source, const size_t _target)
        const;
    std::vector<size_t> FindPath(const WorkspaceRegion* const _source,
        const WorkspaceRegion* const _target) const;
 
    std::vector<size_t> FindNeighborhood(const std::vector<size_t>& _roots,
        const double _threshold) const;
 
 
  private:
 
 
    void AssertMutable() const;
 
    void ComputeDualGraph();
 
    void UpdateDecompositionPointers();
 
 
    std::vector<Point3d> m_points; 
    DualGraph m_dual;              
 
    bool m_finalized{false};       
 
};
 
#endif