dynamicEDT3D.h

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/*
 * Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 */

#ifndef _DYNAMICEDT3D_H_
#define _DYNAMICEDT3D_H_

#include <limits.h>
#include <queue>

#include "bucketedqueue.h"

class DynamicEDT3D {
  
public:
  
  DynamicEDT3D(int _maxdist_squared);
  ~DynamicEDT3D();

  void initializeEmpty(int _sizeX, int _sizeY, int sizeZ, bool initGridMap=true);
  void initializeMap(int _sizeX, int _sizeY, int sizeZ, bool*** _gridMap);

  void occupyCell(int x, int y, int z);
  void clearCell(int x, int y, int z);
  void exchangeObstacles(std::vector<INTPOINT3D> newObstacles);

  virtual void update(bool updateRealDist=true);

  float getDistance( int x, int y, int z ) const;
  INTPOINT3D getClosestObstacle( int x, int y, int z ) const;

  int getSQCellDistance( int x, int y, int z ) const;
  bool isOccupied(int x, int y, int z) const;

  unsigned int getSizeX() const {return sizeX;}
  unsigned int getSizeY() const {return sizeY;}
  unsigned int getSizeZ() const {return sizeZ;}

  typedef enum {invalidObstData = INT_MAX} ObstDataState;

  static float distanceValue_Error;
  static int distanceInCellsValue_Error;

protected: 
  struct dataCell {
    float dist;
    int obstX;
    int obstY;
    int obstZ;
    int sqdist;
    char queueing;
    bool needsRaise;
  };

  typedef enum {free=0, occupied=1} State;
  typedef enum {fwNotQueued=1, fwQueued=2, fwProcessed=3, bwQueued=4, bwProcessed=1} QueueingState;
  
  // methods
  inline void raiseCell(INTPOINT3D &p, dataCell &c, bool updateRealDist);
  inline void propagateCell(INTPOINT3D &p, dataCell &c, bool updateRealDist);
  inline void inspectCellRaise(int &nx, int &ny, int &nz, bool updateRealDist);
  inline void inspectCellPropagate(int &nx, int &ny, int &nz, dataCell &c, bool updateRealDist);

  void setObstacle(int x, int y, int z);
  void removeObstacle(int x, int y, int z);

private:
  void commitAndColorize(bool updateRealDist=true);

  inline bool isOccupied(int &x, int &y, int &z, dataCell &c);

  // queues
  BucketPrioQueue<INTPOINT3D> open;

  std::vector<INTPOINT3D> removeList;
  std::vector<INTPOINT3D> addList;
  std::vector<INTPOINT3D> lastObstacles;

  // maps
protected:
  int sizeX;
  int sizeY;
  int sizeZ;
  int sizeXm1;
  int sizeYm1;
  int sizeZm1;

  dataCell*** data;
  bool*** gridMap;

  // parameters
  int padding;
  double doubleThreshold;

  double sqrt2;
  double maxDist;
  int maxDist_squared;
};


#endif