graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit

00001 /*<html><pre>  -<a                             href="qh-c.htm#stat"
00002   >-------------------------------</a><a name="TOP">-</a>
00003 
00004    stat.c 
00005    contains all statistics that are collected for qhull
00006 
00007    see qh-c.htm and stat.h
00008 
00009    copyright (c) 1993-1998, The Geometry Center
00010 */
00011 
00012 #include "qhull_a.h"
00013 
00014 #ifdef USE_DMALLOC
00015 #include "dmalloc.h"
00016 #endif
00017 
00018 /*============ global data structure ==========*/
00019 
00020 #if qh_QHpointer
00021 qhstatT *qh_qhstat=NULL;  /* global data structure */
00022 #else
00023 qhstatT qh_qhstat;   /* add "={0}" if this causes a compiler error */
00024 #endif
00025 
00026 /*========== functions in alphabetic order ================*/
00027 
00028 /*-<a                             href="qh-c.htm#stat"
00029   >-------------------------------</a><a name="allstatA">-</a>
00030   
00031   qh_allstatA()
00032     define statistics in groups of 20
00033 
00034   notes:
00035     (otherwise, 'gcc -O2' uses too much memory)
00036     uses qhstat.next
00037 */
00038 void qh_allstatA (void) {
00039   
00040    /* zdef_(type,name,doc,average) */
00041   zzdef_(zdoc, Zdoc2, "precision statistics", -1);
00042   zdef_(zinc, Znewvertex, NULL, -1);
00043   zdef_(wadd, Wnewvertex, "ave. distance of a new vertex to a facet (not 0s)", Znewvertex);
00044   zzdef_(wmax, Wnewvertexmax, "max. distance of a new vertex to a facet", -1);
00045   zdef_(wmax, Wvertexmax, "max. distance of an output vertex to a facet", -1);
00046   zdef_(wmin, Wvertexmin, "min. distance of an output vertex to a facet", -1);
00047   zdef_(wmin, Wmindenom, "min. denominator in hyperplane computation", -1);
00048 
00049   qhstat precision= qhstat next;  /* call qh_precision for each of these */
00050   zzdef_(zdoc, Zdoc3, "precision problems", -1);
00051   zzdef_(zinc, Zcoplanarridges, "coplanar half ridges in output", -1);
00052   zzdef_(zinc, Zconcaveridges, "concave half ridges in output", -1);
00053   zzdef_(zinc, Zflippedfacets, "flipped facets", -1);
00054   zzdef_(zinc, Zcoplanarhorizon, "coplanar horizon facets for new vertices", -1);
00055   zzdef_(zinc, Zcoplanarpart, "coplanar points during partitioning", -1);
00056   zzdef_(zinc, Zminnorm, "degenerate hyperplanes recomputed with gaussian elimination", -1);
00057   zzdef_(zinc, Znearlysingular, "nearly singular or axis-parallel hyperplanes", -1);
00058   zzdef_(zinc, Zback0, "zero divisors during back substitute", -1);
00059   zzdef_(zinc, Zgauss0, "zero divisors during gaussian elimination", -1);
00060   zzdef_(zinc, Zmultiridge, "ridges with multiple neighbors", -1);
00061 }
00062 void qh_allstatB (void) {
00063   zzdef_(zdoc, Zdoc1, "summary information", -1);
00064   zdef_(zinc, Zvertices, "number of vertices in output", -1);
00065   zdef_(zinc, Znumfacets, "number of facets in output", -1);
00066   zdef_(zinc, Znumridges, "number of ridges in output", -1);
00067   zdef_(zadd, Znumridges, "average number of ridges per facet", Znumfacets);
00068   zdef_(zmax, Zmaxridges, "maximum number of ridges", -1);
00069   zdef_(zadd, Znumneighbors, "average number of neighbors per facet", Znumfacets);
00070   zdef_(zmax, Zmaxneighbors, "maximum number of neighbors", -1);
00071   zdef_(zadd, Znumvertices, "average number of vertices per facet", Znumfacets);
00072   zdef_(zmax, Zmaxvertices, "maximum number of vertices", -1);
00073   zdef_(zadd, Znumvneighbors, "average number of neighbors per vertex", Zvertices);
00074   zdef_(zmax, Zmaxvneighbors, "maximum number of neighbors", -1);
00075   zdef_(wadd, Wcpu, "cpu seconds for qhull after input", -1);
00076   zdef_(zinc, Ztotvertices, "vertices created altogether", -1);
00077   zzdef_(zinc, Zsetplane, "facets created altogether", -1);
00078   zdef_(zinc, Ztotridges, "ridges created altogether", -1);
00079   zdef_(zinc, Zpostfacets, "facets before post merge", -1);
00080   zdef_(zadd, Znummergetot, "average merges per facet (at most 511)", Znumfacets);
00081   zdef_(zmax, Znummergemax, "  maximum merges for a facet (at most 511)", -1);
00082   zdef_(zinc, Zangle, NULL, -1);
00083   zdef_(wadd, Wangle, "average angle (cosine) for all ridges", Zangle);
00084   zdef_(wmax, Wanglemax, "  maximum angle (cosine) of a ridge", -1);
00085   zdef_(wmin, Wanglemin, "  minimum angle (cosine) of a ridge", -1);
00086   zdef_(wadd, Wareatot, "total area of facets", -1);
00087   zdef_(wmax, Wareamax, "  maximum facet area", -1);
00088   zdef_(wmin, Wareamin, "  minimum facet area", -1);
00089 }  
00090 void qh_allstatC (void) {
00091   zdef_(zdoc, Zdoc9, "build hull statistics", -1);
00092   zzdef_(zinc, Zprocessed, "points processed", -1);
00093   zzdef_(zinc, Zretry, "retries due to precision problems", -1);
00094   zdef_(wmax, Wretrymax, "  max. random joggle", -1);
00095   zdef_(zmax, Zmaxvertex, "max. vertices at any one time", -1);
00096   zdef_(zinc, Ztotvisible, "ave. visible facets per iteration", Zprocessed);
00097   zdef_(zinc, Zinsidevisible, "  ave. visible facets without an horizon neighbor", Zprocessed);
00098   zdef_(zadd, Zvisfacettot,  "  ave. facets deleted per iteration", Zprocessed);
00099   zdef_(zmax, Zvisfacetmax,  "    maximum", -1);
00100   zdef_(zadd, Zvisvertextot, "ave. visible vertices per iteration", Zprocessed);
00101   zdef_(zmax, Zvisvertexmax, "    maximum", -1);
00102   zdef_(zadd, Zdelvertextot, "  ave. vertices deleted per iteration", Zprocessed);
00103   zdef_(zmax, Zdelvertexmax, "    maximum vertices deleted", -1);
00104   zdef_(zinc, Ztothorizon, "ave. horizon facets per iteration", Zprocessed);
00105   zdef_(zadd, Znewfacettot,  "ave. new or merged facets per iteration", Zprocessed);
00106   zdef_(zmax, Znewfacetmax,  "    maximum (includes initial simplex)", -1);
00107   zdef_(wadd, Wnewbalance, "average new facet balance", Zprocessed);
00108   zdef_(wadd, Wnewbalance2, "  standard deviation", -1);
00109   zdef_(wadd, Wpbalance, "average partition balance", Zpbalance);
00110   zdef_(wadd, Wpbalance2, "  standard deviation", -1);
00111   zdef_(zinc, Zpbalance, "  number of trials", -1);
00112   zdef_(zinc, Zsearchpoints, "searches of all points for initial simplex", -1);
00113   zdef_(zinc, Zdetsimplex, "determinants computed (area & initial hull)", -1);
00114   zdef_(zinc, Znoarea, "determinants not computed because vertex too low", -1);
00115   zdef_(zinc, Znotmax, "points ignored (not above max_outside)", -1);
00116   zdef_(zinc, Znotgood, "points ignored (not above a good facet)", -1);
00117   zdef_(zinc, Znotgoodnew, "points ignored (didn't create a good new facet)", -1);
00118   zdef_(zinc, Zgoodfacet, "good facets found", -1);
00119   zzdef_(zinc, Znumvisibility, "distance tests for facet visibility", -1);
00120   zdef_(zinc, Zdistvertex, "distance tests to report minimum vertex", -1);
00121   zdef_(zinc, Ztotcheck, "points checked for facets' outer planes", -1);
00122   zdef_(zinc, Zcheckpart, "  ave. distance tests per check", Ztotcheck);
00123 }
00124 void qh_allstatD(void) {
00125   zdef_(zdoc, Zdoc4, "partitioning statistics", -1);
00126   zdef_(zinc, Zpartinside, "inside points", -1);
00127   zdef_(zinc, Zpartnear, "  inside points kept with a facet", -1);
00128   zdef_(zinc, Zcoplanarinside, "  inside points that were coplanar with a facet", -1);
00129   zdef_(wadd, Wmaxout, "difference in max_outside at final check", -1);
00130   
00131   zzdef_(zinc, Zpartitionall, "distance tests for initial partition", -1);
00132   zdef_(zinc, Ztotpartition, "partitions of a point", -1);
00133   zzdef_(zinc, Zpartition, "distance tests for partitioning", -1);
00134   zzdef_(zinc, Zdistcheck, "distance tests for checking flipped facets", -1); 
00135   zzdef_(zinc, Zdistconvex, "distance tests for checking convexity", -1); 
00136   zdef_(zinc, Zdistgood, "distance tests for checking good point", -1); 
00137   zdef_(zinc, Zdistio, "distance tests for output", -1); 
00138   zdef_(zinc, Zdiststat, "distance tests for statistics", -1); 
00139   zdef_(zinc, Zdistplane, "total number of distance tests", -1);
00140   zdef_(zinc, Ztotpartcoplanar, "partitions of coplanar points or deleted vertices", -1);
00141   zzdef_(zinc, Zpartcoplanar, "   distance tests for these partitions", -1);
00142   zdef_(zinc, Zcomputefurthest, "distance tests for computing furthest", -1);
00143 }
00144 void qh_allstatE(void) {
00145   zdef_(zdoc, Zdoc5, "statistics for matching ridges", -1);
00146   zdef_(zinc, Zhashlookup, "total lookups for matching ridges of new facets", -1);
00147   zdef_(zinc, Zhashtests, "average number of tests to match a ridge", Zhashlookup);
00148   zdef_(zinc, Zhashridge, "total lookups of subridges (duplicates and boundary)", -1);
00149   zdef_(zinc, Zhashridgetest, "average number of tests per subridge", Zhashridge);
00150   zdef_(zinc, Zdupsame, "duplicated ridges in same merge cycle", -1);
00151   zdef_(zinc, Zdupflip, "duplicated ridges with flipped facets", -1);
00152 
00153   zdef_(zdoc, Zdoc6, "statistics for determining merges", -1);
00154   zdef_(zinc, Zangletests, "angles computed for ridge convexity", -1);
00155   zdef_(zinc, Zbestcentrum, "best merges used centrum instead of vertices",-1);
00156   zzdef_(zinc, Zbestdist, "distance tests for best merge", -1);
00157   zzdef_(zinc, Zcentrumtests, "distance tests for centrum convexity", -1);
00158   zzdef_(zinc, Zdistzero, "distance tests for checking simplicial convexity", -1);
00159   zdef_(zinc, Zcoplanarangle, "coplanar angles in getmergeset", -1);
00160   zdef_(zinc, Zcoplanarcentrum, "coplanar centrums in getmergeset", -1);
00161   zdef_(zinc, Zconcaveridge, "concave ridges in getmergeset", -1);
00162 }
00163 void qh_allstatF(void) {
00164   zdef_(zdoc, Zdoc7, "statistics for merging", -1);
00165   zdef_(zinc, Zpremergetot, "merge iterations", -1);
00166   zdef_(zadd, Zmergeinittot, "ave. initial non-convex ridges per iteration", Zpremergetot);
00167   zdef_(zadd, Zmergeinitmax, "  maximum", -1);
00168   zdef_(zadd, Zmergesettot, "  ave. additional non-convex ridges per iteration", Zpremergetot);
00169   zdef_(zadd, Zmergesetmax, "  maximum additional in one pass", -1);
00170   zdef_(zadd, Zmergeinittot2, "initial non-convex ridges for post merging", -1);
00171   zdef_(zadd, Zmergesettot2, "  additional non-convex ridges", -1);
00172   zdef_(wmax, Wmaxoutside, "max distance of vertex or coplanar point above facet (w/roundoff)", -1);
00173   zdef_(wmin, Wminvertex, "max distance of merged vertex below facet (or roundoff)", -1);
00174   zdef_(zinc, Zwidefacet, "centrums frozen due to a wide merge", -1);
00175   zdef_(zinc, Zwidevertices, "centrums frozen due to extra vertices", -1);
00176   zzdef_(zinc, Ztotmerge, "total number of facets or cycles of facets merged", -1);
00177   zdef_(zinc, Zmergesimplex, "merged a simplex", -1);
00178   zdef_(zinc, Zonehorizon, "simplices merged into coplanar horizon", -1);
00179   zzdef_(zinc, Zcyclehorizon, "cycles of facets merged into coplanar horizon", -1);
00180   zzdef_(zadd, Zcyclefacettot, "  ave. facets per cycle", Zcyclehorizon);
00181   zdef_(zmax, Zcyclefacetmax, "  max. facets", -1);
00182   zdef_(zinc, Zmergeintohorizon, "new facets merged into horizon", -1);
00183   zdef_(zinc, Zmergenew, "new facets merged", -1);
00184   zdef_(zinc, Zmergehorizon, "horizon facets merged into new facets", -1);
00185   zdef_(zinc, Zmergevertex, "vertices deleted by merging", -1);
00186   zdef_(zinc, Zcyclevertex, "vertices deleted by merging into coplanar horizon", -1);
00187   zdef_(zinc, Zdegenvertex, "vertices deleted by degenerate facet", -1);
00188   zdef_(zinc, Zmergeflipdup, "merges due to flipped facets in duplicated ridge", -1);
00189   zdef_(zinc, Zneighbor, "merges due to redundant neighbors", -1);
00190   zdef_(zadd, Ztestvneighbor, "non-convex vertex neighbors", -1); 
00191 }
00192 void qh_allstatG(void) {
00193   zdef_(zinc, Zacoplanar, "merges due to angle coplanar facets", -1);
00194   zdef_(wadd, Wacoplanartot, "  average merge distance", Zacoplanar);
00195   zdef_(wmax, Wacoplanarmax, "  maximum merge distance", -1);
00196   zdef_(zinc, Zcoplanar, "merges due to coplanar facets", -1);
00197   zdef_(wadd, Wcoplanartot, "  average merge distance", Zcoplanar);
00198   zdef_(wmax, Wcoplanarmax, "  maximum merge distance", -1);
00199   zdef_(zinc, Zconcave, "merges due to concave facets", -1);
00200   zdef_(wadd, Wconcavetot, "  average merge distance", Zconcave);
00201   zdef_(wmax, Wconcavemax, "  maximum merge distance", -1);
00202   zdef_(zinc, Zavoidold, "coplanar/concave merges due to avoiding old merge", -1);
00203   zdef_(wadd, Wavoidoldtot, "  average merge distance", Zavoidold);
00204   zdef_(wmax, Wavoidoldmax, "  maximum merge distance", -1);
00205   zdef_(zinc, Zdegen, "merges due to degenerate facets", -1);
00206   zdef_(wadd, Wdegentot, "  average merge distance", Zdegen);
00207   zdef_(wmax, Wdegenmax, "  maximum merge distance", -1);
00208   zdef_(zinc, Zflipped, "merges due to removing flipped facets", -1);
00209   zdef_(wadd, Wflippedtot, "  average merge distance", Zflipped);
00210   zdef_(wmax, Wflippedmax, "  maximum merge distance", -1);
00211   zdef_(zinc, Zduplicate, "merges due to duplicated ridges", -1);
00212   zdef_(wadd, Wduplicatetot, "  average merge distance", Zduplicate);
00213   zdef_(wmax, Wduplicatemax, "  maximum merge distance", -1);
00214 
00215 }
00216 void qh_allstatH(void) {
00217   zdef_(zdoc, Zdoc8, "renamed vertex statistics", -1);
00218   zdef_(zinc, Zrenameshare, "renamed vertices shared by two facets", -1);
00219   zdef_(zinc, Zrenamepinch, "renamed vertices in a pinched facet", -1);
00220   zdef_(zinc, Zrenameall, "renamed vertices shared by multiple facets", -1);
00221   zdef_(zinc, Zfindfail, "rename failures due to duplicated ridges", -1);
00222   zdef_(zinc, Zdupridge, "  duplicate ridges detected", -1);
00223   zdef_(zinc, Zdelridge, "deleted ridges due to renamed vertices", -1);
00224   zdef_(zinc, Zdropneighbor, "dropped neighbors due to renamed vertices", -1);
00225   zdef_(zinc, Zdropdegen, "degenerate facets due to dropped neighbors", -1);
00226   zdef_(zinc, Zdelfacetdup, "  facets deleted because of no neighbors", -1);
00227   zdef_(zinc, Zremvertex, "vertices removed from facets due to no ridges", -1);
00228   zdef_(zinc, Zremvertexdel, "  deleted", -1);
00229   zdef_(zinc, Zintersectnum, "vertex intersections for locating redundant vertices", -1);
00230   zdef_(zinc, Zintersectfail, "intersections failed to find a redundant vertex", -1);
00231   zdef_(zinc, Zintersect, "intersections found redundant vertices", -1);
00232   zdef_(zadd, Zintersecttot, "   ave. number found per vertex", Zintersect);
00233   zdef_(zmax, Zintersectmax, "   max. found for a vertex", -1);
00234   zdef_(zinc, Zvertexridge, NULL, -1);
00235   zdef_(zadd, Zvertexridgetot, "  ave. number of ridges per tested vertex", Zvertexridge);
00236   zdef_(zmax, Zvertexridgemax, "  max. number of ridges per tested vertex", -1);
00237 
00238   zdef_(zdoc, Zdoc10, "memory usage statistics (in bytes)", -1);
00239   zdef_(zadd, Zmemfacets, "for facets and their normals, neighbor and vertex sets", -1);
00240   zdef_(zadd, Zmemvertices, "for vertices and their neighbor sets", -1);
00241   zdef_(zadd, Zmempoints, "for input points and outside and coplanar sets",-1);
00242   zdef_(zadd, Zmemridges, "for ridges and their vertex sets", -1);
00243 } /* allstat */
00244 
00245 void qh_allstatI(void) {
00246   qhstat vridges= qhstat next;
00247   zzdef_(zdoc, Zdoc11, "Voronoi ridge statistics", -1);
00248   zzdef_(zinc, Zridge, "non-simplicial Voronoi vertices for all ridges", -1);
00249   zzdef_(wadd, Wridge, "  ave. distance to ridge", Zridge);
00250   zzdef_(wmax, Wridgemax, "  max. distance to ridge", -1);
00251   zzdef_(zinc, Zridgemid, "bounded ridges", -1);
00252   zzdef_(wadd, Wridgemid, "  ave. distance of midpoint to ridge", Zridgemid);
00253   zzdef_(wmax, Wridgemidmax, "  max. distance of midpoint to ridge", -1);
00254   zzdef_(zinc, Zridgeok, "bounded ridges with ok normal", -1);
00255   zzdef_(wadd, Wridgeok, "  ave. angle to ridge", Zridgeok);
00256   zzdef_(wmax, Wridgeokmax, "  max. angle to ridge", -1);
00257   zzdef_(zinc, Zridge0, "bounded ridges with near-zero normal", -1);
00258   zzdef_(wadd, Wridge0, "  ave. angle to ridge", Zridge0);
00259   zzdef_(wmax, Wridge0max, "  max. angle to ridge", -1);
00260 } /* allstat */
00261 
00262 /*-<a                             href="qh-c.htm#stat"
00263   >-------------------------------</a><a name="allstatistics">-</a>
00264   
00265   qh_allstatistics()
00266     reset printed flag for all statistics
00267 */
00268 void qh_allstatistics (void) {
00269   int i;
00270   
00271   for (i=ZEND; i--; ) 
00272     qhstat printed[i]= False;
00273 } /* allstatistics */
00274 
00275 #if qh_KEEPstatistics
00276 /*-<a                             href="qh-c.htm#stat"
00277   >-------------------------------</a><a name="collectstatistics">-</a>
00278   
00279   qh_collectstatistics()
00280     collect statistics for qh.facet_list
00281 
00282 */
00283 void qh_collectstatistics (void) {
00284   facetT *facet, *neighbor, **neighborp;
00285   vertexT *vertex, **vertexp;
00286   realT dotproduct, dist;
00287   int sizneighbors, sizridges, sizvertices, i;
00288   
00289   qh old_randomdist= qh RANDOMdist;
00290   qh RANDOMdist= False;
00291   zval_(Zmempoints)= qh num_points * qh normal_size + 
00292                              sizeof (qhT) + sizeof (qhstatT);
00293   zval_(Zmemfacets)= 0;
00294   zval_(Zmemridges)= 0;
00295   zval_(Zmemvertices)= 0;
00296   zval_(Zangle)= 0;
00297   wval_(Wangle)= 0.0;
00298   zval_(Znumridges)= 0;
00299   zval_(Znumfacets)= 0;
00300   zval_(Znumneighbors)= 0;
00301   zval_(Znumvertices)= 0;
00302   zval_(Znumvneighbors)= 0;
00303   zval_(Znummergetot)= 0;
00304   zval_(Znummergemax)= 0;
00305   zval_(Zvertices)= qh num_vertices - qh_setsize (qh del_vertices);
00306   if (qh MERGING || qh APPROXhull || qh JOGGLEmax < REALmax/2)
00307     wmax_(Wmaxoutside, qh max_outside);
00308   if (qh MERGING)
00309     wmin_(Wminvertex, qh min_vertex);
00310   FORALLfacets
00311     facet->seen= False;
00312   if (qh DELAUNAY) {
00313     FORALLfacets {
00314       if (facet->upperdelaunay != qh UPPERdelaunay)
00315         facet->seen= True; /* remove from angle statistics */
00316     }
00317   }
00318   FORALLfacets {
00319     if (facet->visible && qh NEWfacets)
00320       continue;
00321     sizvertices= qh_setsize (facet->vertices);
00322     sizneighbors= qh_setsize (facet->neighbors);
00323     sizridges= qh_setsize (facet->ridges);
00324     zinc_(Znumfacets);
00325     zadd_(Znumvertices, sizvertices);
00326     zmax_(Zmaxvertices, sizvertices);
00327     zadd_(Znumneighbors, sizneighbors);
00328     zmax_(Zmaxneighbors, sizneighbors);
00329     zadd_(Znummergetot, facet->nummerge);
00330     i= facet->nummerge; /* avoid warnings */
00331     zmax_(Znummergemax, i); 
00332     if (sizridges) {
00333       zadd_(Znumridges, sizridges);
00334       zmax_(Zmaxridges, sizridges);
00335     }
00336     zadd_(Zmemfacets, sizeof (facetT) + qh normal_size + 2*sizeof (setT) 
00337        + SETelemsize * (sizneighbors + sizvertices));
00338     if (facet->ridges) {
00339       zadd_(Zmemridges,
00340          sizeof (setT) + SETelemsize * sizridges + sizridges * 
00341          (sizeof (ridgeT) + sizeof (setT) + SETelemsize * (qh hull_dim-1))/2);
00342     }
00343     if (facet->outsideset)
00344       zadd_(Zmempoints, sizeof (setT) + SETelemsize * qh_setsize (facet->outsideset));
00345     if (facet->coplanarset)
00346       zadd_(Zmempoints, sizeof (setT) + SETelemsize * qh_setsize (facet->coplanarset));
00347     if (facet->seen) /* Delaunay upper envelope */
00348       continue;
00349     facet->seen= True;
00350     FOREACHneighbor_(facet) {
00351       if (neighbor == qh_DUPLICATEridge || neighbor == qh_MERGEridge
00352           || neighbor->seen || !facet->normal || !neighbor->normal)
00353         continue;
00354       dotproduct= qh_getangle(facet->normal, neighbor->normal);
00355       zinc_(Zangle);
00356       wadd_(Wangle, dotproduct);
00357       wmax_(Wanglemax, dotproduct)
00358       wmin_(Wanglemin, dotproduct)
00359     }
00360     if (facet->normal) {
00361       FOREACHvertex_(facet->vertices) {
00362         zinc_(Zdiststat);
00363         qh_distplane(vertex->point, facet, &dist);
00364         wmax_(Wvertexmax, dist);
00365         wmin_(Wvertexmin, dist);
00366       }
00367     }
00368   }
00369   FORALLvertices {
00370     if (vertex->deleted)
00371       continue;
00372     zadd_(Zmemvertices, sizeof (vertexT));
00373     if (vertex->neighbors) {
00374       sizneighbors= qh_setsize (vertex->neighbors);
00375       zadd_(Znumvneighbors, sizneighbors);
00376       zmax_(Zmaxvneighbors, sizneighbors);
00377       zadd_(Zmemvertices, sizeof (vertexT) + SETelemsize * sizneighbors);
00378     }
00379   }
00380   qh RANDOMdist= qh old_randomdist;
00381 } /* collectstatistics */
00382 #endif /* qh_KEEPstatistics */
00383 
00384 /*-<a                             href="qh-c.htm#stat"
00385   >-------------------------------</a><a name="freestatistics">-</a>
00386   
00387   qh_freestatistics(  )
00388     free memory used for statistics
00389 */
00390 void qh_freestatistics (void) {
00391 
00392 #if qh_QHpointer
00393   free (qh_qhstat);
00394   qh_qhstat= NULL;
00395 #endif
00396 } /* freestatistics */
00397 
00398 /*-<a                             href="qh-c.htm#stat"
00399   >-------------------------------</a><a name="initstatistics">-</a>
00400   
00401   qh_initstatistics(  )
00402     allocate and initialize statistics
00403 
00404   notes:
00405     uses malloc() instead of qh_memalloc() since mem.c not set up yet
00406 */
00407 void qh_initstatistics (void) {
00408   int i;
00409   realT realx;
00410   int intx;
00411 
00412 #if qh_QHpointer
00413   if (!(qh_qhstat= (qhstatT *)malloc (sizeof(qhstatT)))) {
00414     fprintf (qhmem.ferr, "qhull error (qh_initstatistics): insufficient memory\n");
00415     exit (1);  /* can not use qh_errexit() */
00416   }
00417 #endif
00418   
00419   qhstat next= 0;
00420   qh_allstatA();
00421   qh_allstatB();
00422   qh_allstatC();
00423   qh_allstatD();
00424   qh_allstatE();
00425   qh_allstatF();
00426   qh_allstatG();
00427   qh_allstatH();
00428   qh_allstatI();
00429 
00430   qhstat init[zinc].i= 0;
00431   qhstat init[zadd].i= 0;
00432   qhstat init[zmin].i= INT_MAX;
00433   qhstat init[zmax].i= INT_MIN;
00434   qhstat init[wadd].r= 0;
00435   qhstat init[wmin].r= REALmax;
00436   qhstat init[wmax].r= -REALmax;
00437   for (i=0; i < ZEND; i++) {
00438     if (qhstat type[i] > ZTYPEreal) {
00439       realx= qhstat init[(unsigned char)(qhstat type[i])].r;
00440       qhstat stats[i].r= realx;
00441     }else if (qhstat type[i] != zdoc) {
00442       intx= qhstat init[(unsigned char)(qhstat type[i])].i;
00443       qhstat stats[i].i= intx;
00444     }
00445   }
00446 } /* initstatistics */
00447 
00448 /*-<a                             href="qh-c.htm#stat"
00449   >-------------------------------</a><a name="newstats">-</a>
00450   
00451   qh_newstats(  )
00452     returns True if statistics for zdoc
00453 
00454   returns:
00455     next zdoc
00456 */
00457 boolT qh_newstats (int index, int *nextindex) {
00458   boolT isnew= False;
00459   int start, i;
00460 
00461   if (qhstat type[qhstat id[index]] == zdoc) 
00462     start= index+1;
00463   else
00464     start= index;
00465   for (i= start; i < qhstat next && qhstat type[qhstat id[i]] != zdoc; i++) {
00466     if (!qh_nostatistic(qhstat id[i]) && !qhstat printed[qhstat id[i]])
00467         isnew= True;
00468   }
00469   *nextindex= i;
00470   return isnew;
00471 } /* newstats */
00472 
00473 /*-<a                             href="qh-c.htm#stat"
00474   >-------------------------------</a><a name="nostatistic">-</a>
00475   
00476   qh_nostatistic( index )
00477     true if no statistic to print
00478 */
00479 boolT qh_nostatistic (int i) {
00480   
00481   if ((qhstat type[i] > ZTYPEreal
00482        &&qhstat stats[i].r == qhstat init[(unsigned char)(qhstat type[i])].r)
00483       || (qhstat type[i] < ZTYPEreal
00484           &&qhstat stats[i].i == qhstat init[(unsigned char)(qhstat type[i])].i))
00485     return True;
00486   return False;
00487 } /* nostatistic */
00488 
00489 #if qh_KEEPstatistics
00490 /*-<a                             href="qh-c.htm#stat"
00491   >-------------------------------</a><a name="printallstatistics">-</a>
00492   
00493   qh_printallstatistics( fp, string )
00494     print all statistics with header 'string'
00495 */
00496 void qh_printallstatistics (FILE *fp, char *string) {
00497 
00498   qh_allstatistics();
00499   qh_collectstatistics();
00500   qh_printstatistics (fp, string);
00501   qh_memstatistics (fp);
00502 }
00503 
00504 
00505 /*-<a                             href="qh-c.htm#stat"
00506   >-------------------------------</a><a name="printstatistics">-</a>
00507   
00508   qh_printstatistics( fp, string )
00509     print statistics to a file with header 'string'
00510     skips statistics with qhstat.printed[] (reset with qh_allstatistics)
00511 
00512   see: 
00513     qh_printallstatistics()
00514 */
00515 void qh_printstatistics (FILE *fp, char *string) {
00516   int i, k;
00517   realT ave;
00518   
00519   if (qh num_points != qh num_vertices) {
00520     wval_(Wpbalance)= 0;
00521     wval_(Wpbalance2)= 0;
00522   }else
00523     wval_(Wpbalance2)= qh_stddev (zval_(Zpbalance), wval_(Wpbalance), 
00524                                  wval_(Wpbalance2), &ave);
00525   wval_(Wnewbalance2)= qh_stddev (zval_(Zprocessed), wval_(Wnewbalance), 
00526                                  wval_(Wnewbalance2), &ave);
00527   fprintf (fp, "\n\
00528 %s\n\
00529  qhull invoked by: %s | %s\n%s with options:\n%s\n", string, qh rbox_command, 
00530      qh qhull_command, qh_version, qh qhull_options);
00531   fprintf (fp, "\nprecision constants:\n\
00532  %6.2g max. abs. coordinate in the (transformed) input ('Qbd:n')\n\
00533  %6.2g max. roundoff error for distance computation ('En')\n\
00534  %6.2g max. roundoff error for angle computations\n\
00535  %6.2g min. distance for outside points ('Wn')\n\
00536  %6.2g min. distance for visible facets ('Vn')\n\
00537  %6.2g max. distance for coplanar facets ('Un')\n\
00538  %6.2g max. facet width for recomputing centrum and area\n\
00539 ", 
00540   qh MAXabs_coord, qh DISTround, qh ANGLEround, qh MINoutside, 
00541         qh MINvisible, qh MAXcoplanar, qh WIDEfacet);
00542   if (qh KEEPnearinside)
00543     fprintf(fp, "\
00544  %6.2g max. distance for near-inside points\n", qh NEARinside);
00545   if (qh premerge_cos < REALmax/2) fprintf (fp, "\
00546  %6.2g max. cosine for pre-merge angle\n", qh premerge_cos);
00547   if (qh PREmerge) fprintf (fp, "\
00548  %6.2g radius of pre-merge centrum\n", qh premerge_centrum);
00549   if (qh postmerge_cos < REALmax/2) fprintf (fp, "\
00550  %6.2g max. cosine for post-merge angle\n", qh postmerge_cos);
00551   if (qh POSTmerge) fprintf (fp, "\
00552  %6.2g radius of post-merge centrum\n", qh postmerge_centrum);
00553   fprintf (fp, "\
00554  %6.2g max. distance for merging two simplicial facets\n\
00555  %6.2g max. roundoff error for arithmetic operations\n\
00556  %6.2g min. denominator for divisions\n\
00557   zero diagonal for Gauss: ", qh ONEmerge, REALepsilon, qh MINdenom);
00558   for (k=0; k < qh hull_dim; k++)
00559     fprintf (fp, "%6.2e ", qh NEARzero[k]);
00560   fprintf (fp, "\n\n");
00561   for (i=0 ; i < qhstat next; ) 
00562     qh_printstats (fp, i, &i);
00563 } /* printstatistics */
00564 #endif /* qh_KEEPstatistics */
00565 
00566 /*-<a                             href="qh-c.htm#stat"
00567   >-------------------------------</a><a name="printstatlevel">-</a>
00568   
00569   qh_printstatlevel( fp, id )
00570     print level information for a statistic
00571 
00572   notes:
00573     nop if id >= ZEND, printed, or same as initial value
00574 */
00575 void qh_printstatlevel (FILE *fp, int id, int start) {
00576 #define NULLfield "       "
00577 
00578   if (id >= ZEND || qhstat printed[id])
00579     return;
00580   if (qhstat type[id] == zdoc) {
00581     fprintf (fp, "%s\n", qhstat doc[id]);
00582     return;
00583   }
00584   start= 0; /* not used */
00585   if (qh_nostatistic(id) || !qhstat doc[id])
00586     return;
00587   qhstat printed[id]= True;
00588   if (qhstat count[id] != -1 
00589       && qhstat stats[(unsigned char)(qhstat count[id])].i == 0)
00590     fprintf (fp, " *0 cnt*");
00591   else if (qhstat type[id] >= ZTYPEreal && qhstat count[id] == -1)
00592     fprintf (fp, "%7.2g", qhstat stats[id].r);
00593   else if (qhstat type[id] >= ZTYPEreal && qhstat count[id] != -1)
00594     fprintf (fp, "%7.2g", qhstat stats[id].r/ qhstat stats[(unsigned char)(qhstat count[id])].i);
00595   else if (qhstat type[id] < ZTYPEreal && qhstat count[id] == -1)
00596     fprintf (fp, "%7d", qhstat stats[id].i);
00597   else if (qhstat type[id] < ZTYPEreal && qhstat count[id] != -1)
00598     fprintf (fp, "%7.3g", (realT) qhstat stats[id].i / qhstat stats[(unsigned char)(qhstat count[id])].i);
00599   fprintf (fp, " %s\n", qhstat doc[id]);
00600 } /* printstatlevel */
00601 
00602 
00603 /*-<a                             href="qh-c.htm#stat"
00604   >-------------------------------</a><a name="printstats">-</a>
00605   
00606   qh_printstats( fp, index, nextindex )
00607     print statistics for a zdoc group
00608 
00609   returns:
00610     next zdoc if non-null
00611 */
00612 void qh_printstats (FILE *fp, int index, int *nextindex) {
00613   int j, nexti;
00614 
00615   if (qh_newstats (index, &nexti)) {
00616     fprintf (fp, "\n");
00617     for (j=index; j<nexti; j++)
00618       qh_printstatlevel (fp, qhstat id[j], 0);
00619   }
00620   if (nextindex)
00621     *nextindex= nexti;
00622 } /* printstats */
00623 
00624 #if qh_KEEPstatistics
00625 
00626 /*-<a                             href="qh-c.htm#stat"
00627   >-------------------------------</a><a name="stddev">-</a>
00628   
00629   qh_stddev( num, tot, tot2, ave )
00630     compute the standard deviation and average from statistics
00631 
00632     tot2 is the sum of the squares
00633   notes:
00634     computes r.m.s.: 
00635       (x-ave)^2 
00636       == x^2 - 2x tot/num +   (tot/num)^2
00637       == tot2 - 2 tot tot/num + tot tot/num 
00638       == tot2 - tot ave
00639 */
00640 realT qh_stddev (int num, realT tot, realT tot2, realT *ave) {
00641   realT stddev;
00642 
00643   *ave= tot/num;
00644   stddev= sqrt (tot2/num - *ave * *ave);
00645   return stddev;
00646 } /* stddev */
00647 
00648 #endif /* qh_KEEPstatistics */ 
00649 
00650 #if !qh_KEEPstatistics
00651 void    qh_collectstatistics (void) {}
00652 void    qh_printallstatistics (FILE *fp, char *string) {};
00653 void    qh_printstatistics (FILE *fp, char *string) {}
00654 #endif
00655
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/qhull/stat.c
