global_optimization_tdm.h

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#ifndef NURBS_OPTIMIZATION_TDM_H
#define NURBS_OPTIMIZATION_TDM_H

#include <pcl/surface/on_nurbs/global_optimization_pdm.h>

namespace pcl
{
  namespace on_nurbs
  {

    class GlobalOptimizationTDM : public GlobalOptimization
    {
    public:

      struct ParameterTDM : public GlobalOptimization::Parameter
      {
        double interior_tangent_weight;
        double boundary_tangent_weight;
        double closing_tangent_weight;

        ParameterTDM (double intW = 1.0, double intS = 1e-6, double intTW = 0.01, double bndW = 0.0,
                      double bndS = 1e-6, double bndTW = 0.01, double cloW = 0.0, double cloSi = 0.0,
                      unsigned cloSa = 0, double cloTW = 0.0, double comW = 0.0) :
          Parameter (intW, intS, bndW, bndS, cloW, cloSi, cloSa, comW), interior_tangent_weight (intTW),
              boundary_tangent_weight (bndTW), closing_tangent_weight (cloTW)
        {
        }
        ParameterTDM (GlobalOptimization::Parameter params, double intTW = 0.01, double bndTW = 0.0, double cloTW = 0.0) :
          Parameter (params), interior_tangent_weight (intTW), boundary_tangent_weight (bndTW),
              closing_tangent_weight (cloTW)
        {
        }
      };

    public:

      GlobalOptimizationTDM (const std::vector<NurbsDataSurface*> &data, const std::vector<ON_NurbsSurface*> &nurbs);

      virtual void
      assemble (Parameter params);

      void
      assemble (ParameterTDM params = ParameterTDM ());

      virtual void
      solve (double damp = 1.0);

      virtual void
      updateSurf (double damp);

    private:

      virtual void
      assembleCommonParams (unsigned id1, double weight, unsigned &row);

      virtual void
      assembleCommonBoundaries (unsigned id1, double weight, unsigned &row);

      void
      assembleCommonBoundariesTD (unsigned id1, double wTangent, double weight, unsigned &row);

      virtual void
      assembleClosingBoundaries (unsigned id, unsigned samples, double sigma, double weight, unsigned &row);

      void
      assembleClosingBoundariesTD (unsigned id, unsigned samples, double sigma, double wTangent, double weight,
                                   unsigned &row);

      virtual void
      assembleInteriorPoints (unsigned id, int ncps, double weight, unsigned &row);

      void
      assembleInteriorPointsTD (unsigned id, int ncps, double wTangent, double weight, unsigned &row);

      virtual void
      assembleBoundaryPoints (unsigned id, int ncps, double weight, unsigned &row);

      virtual void
      assembleRegularisation (unsigned id, int ncps, double wCageRegInt, double wCageRegBnd, unsigned &row);

      virtual void
      addParamConstraint (const Eigen::Vector2i &id, const Eigen::Vector2d &params1, const Eigen::Vector2d &params2,
                          double weight, unsigned &row);

      virtual void
      addParamConstraintTD (const Eigen::Vector2i &id, const Eigen::Vector2d &params1, const Eigen::Vector2d &params2,
                            const Eigen::Vector3d &n, const Eigen::Vector3d &tu, const Eigen::Vector3d &tv,
                            double tangent_weight, double weight, unsigned &row);

      virtual void
      addPointConstraint (unsigned id, int ncps, const Eigen::Vector2d &params, const Eigen::Vector3d &point,
                          double weight, unsigned &row);

      void
      addPointConstraintTD (unsigned id, int ncps, const Eigen::Vector2d &params, const Eigen::Vector3d &p,
                            const Eigen::Vector3d &n, const Eigen::Vector3d &tu, const Eigen::Vector3d &tv,
                            double tangent_weight, double weight, unsigned &row);

      virtual void
      addCageInteriorRegularisation (unsigned id, int ncps, double weight, unsigned &row);

      virtual void
      addCageBoundaryRegularisation (unsigned id, int ncps, double weight, int side, unsigned &row);

      virtual void
      addCageCornerRegularisation (unsigned id, int ncps, double weight, unsigned &row);

    };

  }
}
#endif