FFAnalyzer.h

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/*
* ==========================================================================
*               This file is part of the implementation of
*
*               <FrameFab: Robotic Fabrication of Frame Shapes>
*               Yijiang Huang, Juyong Zhang, Xin Hu, Guoxian Song, Zhongyuan Liu, Lei Yu, Ligang Liu
*               In ACM Transactions on Graphics (Proc. SIGGRAPH Asia 2016)
----------------------------------------------------------------------------
*               class:  FFAnalyzer
*
*               Description:  perform the greedy searching algorithm in FrameFab to generate
*               a collision-free, structurally-stable path.
*
*               Version: 2.0
*               Created: Oct/10/2015
*               Updated: Aug/24/2016
*
*               Author:  Xin Hu, Yijiang Huang, Guoxian Song
*               Company:  GCL@USTC
*               Note:   Backtracking Greedy Approach:
*                               At every decision state, a trail solution is performed,
*                               unvisited current layer edges that are connected to already printed
*                               structure and calculate their adjacency,collision and stiffness weight.
*
*                               The total printing cost is weighted sum of the three:
*
*                                       Wp_*P + Wa_*A + Wi_*I
*
*                                       P: stabiliy weight
*                                       L: collision cost
*                                       A: influence weight
----------------------------------------------------------------------------
*               Copyright (C) 2016  Yijiang Huang, Xin Hu, Guoxian Song, Juyong Zhang
*               and Ligang Liu.
*
*               FrameFab is free software: you can redistribute it and/or modify
*               it under the terms of the GNU General Public License as published by
*               the Free Software Foundation, either version 3 of the License, or
*               (at your option) any later version.
*
*               FrameFab is distributed in the hope that it will be useful,
*               but WITHOUT ANY WARRANTY; without even the implied warranty of
*               MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*               GNU General Public License for more details.
*
*               You should have received a copy of the GNU General Public License
*               along with FrameFab.  If not, see <http://www.gnu.org/licenses/>.
* ==========================================================================
*/

#pragma once
#include <cmath>
#include <cstring>

#include "choreo_task_sequence_planner/sequence_analyzers/SeqAnalyzer.h"

class FFAnalyzer : public SeqAnalyzer
{
 public:
  typedef Eigen::MatrixXd MX;
  typedef Eigen::Matrix3d M3;
  typedef Eigen::VectorXd VX;
  typedef Eigen::Vector3d V3;

 public:
  explicit FFAnalyzer(
      DualGraph                 *ptr_dualgraph,
      QuadricCollision  *ptr_collision,
      Stiffness                 *ptr_stiffness,
      FiberPrintPARM            *ptr_parm,
      char                              *ptr_path,
      bool                              terminal_output,
      bool                              file_output,
      descartes_core::RobotModelPtr hotend_model,
      moveit::core::RobotModelConstPtr moveit_model,
      std::string hotend_group_name
  ) noexcept
      : SeqAnalyzer(ptr_dualgraph, ptr_collision, ptr_stiffness,
                    ptr_parm, ptr_path, terminal_output, file_output,
                    hotend_model, moveit_model, hotend_group_name){}
  ~FFAnalyzer();

 public:
  bool SeqPrint();
  bool SeqPrintLayer(std::vector<int> layer_id);

 private:
  bool   GenerateSeq(int l, int h, int t);
  double GenerateCost(WF_edge* ej, const int h, const int t, const int layer_id);

 public:
  void PrintOutTimer();

 private:
  std::vector<std::vector<WF_edge*>> layers_; // store dual_node's id for each layers

  double min_z_;
  double max_z_;

  double min_base_dist_;
  double max_base_dist_;

  Timer FF_analyzer_;
};