/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/EGPlanner/simAnn.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! 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.
//
// GraspIt! 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 GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: simAnn.h,v 1.23 2009/05/07 19:57:46 cmatei Exp $
//
//######################################################################

#include <QObject>
#include "search.h"

class GraspPlanningState;
class VariableSet;
class SearchEnergy;
class Hand;
class Body;

class SoSensor;

#include <stdio.h>
#include <matvec3D.h>
#include <vector>

class SimAnn : public QObject
{
        Q_OBJECT
public:

        enum Result{FAIL = 0, JUMP = 1, KEEP =2};
private:

        //Annealing parameters
        double YC; 
        double HC; 
        double YDIMS; 
        double HDIMS; 
        double NBR_ADJ; 
        double ERR_ADJ; 
        double DEF_T0; 
        double DEF_K0; 

        long int mCurrentStep;
        double mT0;

        int mTotalSteps; 
        bool mWriteResults;
        FILE* mFile;

        double prob(double e_old, double e_new, double t);
        double cooling(double t0, double c, int k, int d);
        GraspPlanningState* stateNeighbor(GraspPlanningState *s, double T, GraspPlanningState *t = NULL);
        void variableNeighbor(VariableSet *set, double T, VariableSet *target = NULL);
        double neighborDistribution(double T);
        double neighborInverse(double T, double y);
        double biasedNeighborDistribution(double T, double in, double conf);

public:
        SimAnn();
        ~SimAnn();

        Result iterate(GraspPlanningState *currentState, SearchEnergy *energyCalculator, GraspPlanningState *targetState = NULL);

        void reset();
        int getCurrentStep(){return mCurrentStep;}
        void setParameters(AnnealingType type);
        void writeResults(bool w);
};

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graspit
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autogenerated on Wed Jan 25 10:58:51 2012