$search

Miniball.java

Go to the documentation of this file.

package edu.tum.cs.vis.model.util.algorithm;

import java.util.ArrayList;

public class Miniball {

        class Miniball_b {

                int                     m, s;                                                           // size and number of support points
                double[]        q0                      = new double[d];
                double[]        z                       = new double[d + 1];
                double[]        f                       = new double[d + 1];
                double[][]      v                       = new double[d + 1][d];
                double[][]      a                       = new double[d + 1][d];
                double[][]      c                       = new double[d + 1][d];
                double[]        sqr_r           = new double[d + 1];
                double[]        current_c       = new double[d];                // refers to some c[j]
                double          current_sqr_r;

                double excess(double[] p) {
                        double e = -current_sqr_r;
                        for (int k = 0; k < d; ++k) {
                                e += mb_sqr(p[k] - current_c[k]);
                        }
                        return e;
                }

                double[] getCenter() {
                        return (current_c);
                }

                void pop() {
                        --m;
                }

                boolean push(double[] p) {
                        // System.out.println("Miniball_b:push");
                        int i, j;
                        double eps = 1e-32;

                        if (m == 0) {
                                for (i = 0; i < d; ++i) {
                                        q0[i] = p[i];
                                }
                                for (i = 0; i < d; ++i) {
                                        c[0][i] = q0[i];
                                }
                                sqr_r[0] = 0;
                        } else {
                                // set v_m to Q_m
                                for (i = 0; i < d; ++i) {
                                        v[m][i] = p[i] - q0[i];
                                }

                                // compute the a_{m,i}, i< m
                                for (i = 1; i < m; ++i) {
                                        a[m][i] = 0;
                                        for (j = 0; j < d; ++j) {
                                                a[m][i] += v[i][j] * v[m][j];
                                        }
                                        a[m][i] *= (2 / z[i]);
                                }

                                // update v_m to Q_m-\bar{Q}_m
                                for (i = 1; i < m; ++i) {
                                        for (j = 0; j < d; ++j) {
                                                v[m][j] -= a[m][i] * v[i][j];
                                        }
                                }

                                // compute z_m
                                z[m] = 0;
                                for (j = 0; j < d; ++j) {
                                        z[m] += mb_sqr(v[m][j]);
                                }
                                z[m] *= 2;

                                // reject push if z_m too small
                                if (z[m] < eps * current_sqr_r) {
                                        return false;
                                }

                                // update c, sqr_r
                                double e = -sqr_r[m - 1];
                                for (i = 0; i < d; ++i) {
                                        e += mb_sqr(p[i] - c[m - 1][i]);
                                }
                                f[m] = e / z[m];

                                for (i = 0; i < d; ++i) {
                                        c[m][i] = c[m - 1][i] + f[m] * v[m][i];
                                }
                                sqr_r[m] = sqr_r[m - 1] + e * f[m] / 2;
                        }
                        current_c = c[m];
                        current_sqr_r = sqr_r[m];
                        s = ++m;
                        return true;
                }

                void reset() {
                        m = 0;
                        s = 0;
                        // we misuse c[0] for the center of the empty sphere
                        for (int j = 0; j < d; j++) {
                                c[0][j] = 0;
                        }
                        current_c = c[0];
                        current_sqr_r = -1;
                }

                int size() {
                        return m;
                }

                double slack() {
                        double min_l = 0;
                        double[] l = new double[d + 1];
                        l[0] = 1;
                        for (int i = s - 1; i > 0; --i) {
                                l[i] = f[i];
                                for (int k = s - 1; k > i; --k) {
                                        l[i] -= a[k][i] * l[k];
                                }
                                if (l[i] < min_l) {
                                        min_l = l[i];
                                }
                                l[0] -= l[i];
                        }
                        if (l[0] < min_l) {
                                min_l = l[0];
                        }
                        return ((min_l < 0) ? -min_l : 0);
                }

                double squared_radius() {
                        return current_sqr_r;
                }

                int support_size() {
                        return s;
                }
        }

        class pvt {
                int     val;

                pvt() {
                        val = 0;
                }

                int getVal() {
                        return (val);
                }

                void setVal(int i) {
                        val = i;
                }
        }

        static double mb_sqr(double r) {
                return r * r;
        }

        static int points_begin() {
                return (0);
        }

        static int support_points_begin() {
                return (0);
        }

        int                     d;

        @SuppressWarnings("rawtypes")
        ArrayList       L;

        Miniball_b      B;

        int                     support_end     = 0;

        @SuppressWarnings("rawtypes")
        public Miniball(int dim) {
                d = dim;
                L = new ArrayList();
                B = new Miniball_b();
        }

        double accuracy(double slack) {
                double e, max_e = 0;
                int n_supp = 0;

                int i;
                for (i = points_begin(); i != support_end; ++i, ++n_supp) {
                        double[] sp = (double[]) L.get(i);
                        if ((e = Math.abs(B.excess(sp))) > max_e) {
                                max_e = e;
                        }
                }
                if (n_supp == nr_support_points()) {
                        System.out.println("Miniball.accuracy WARNING: STRANGE PROBLEM HERE!");
                }
                for (i = support_end; i != points_end(); ++i) {
                        double[] sp = (double[]) L.get(i);
                        if ((e = B.excess(sp)) > max_e) {
                                max_e = e;
                        }
                }
                // slack = B.slack();
                return (max_e / squared_radius());
        }

        public void build() {
                B.reset();
                support_end = 0;
                pivot_mb(points_end());
        }

        public double[] center() {
                return B.getCenter();
        }

        @SuppressWarnings("unchecked")
        public void check_in(double[] p) {
                if (p != null) {
                        L.add(p);
                } else {
                        System.out.println("Miniball.check_in WARNING: Skipping null point");
                }
        }

        public void clear() {
                L.clear();
        }

        boolean is_valid(double tolerance) {
                double slack = 0.0;
                return ((accuracy(slack) < tolerance) && (slack == 0));
        }

        double max_excess(int t, int i, pvt pivot) {
                double[] c = B.getCenter();
                double sqr_r = B.squared_radius();
                double e, max_e = 0;
                for (int k = t; k != i; ++k) {
                        double[] p = (double[]) L.get(k);

                        e = -sqr_r;
                        for (int j = 0; j < d; ++j) {
                                e += mb_sqr(p[j] - c[j]);
                        }
                        if (e > max_e) {
                                max_e = e;
                                pivot.setVal(k);
                        }
                }
                return max_e;
        }

        @SuppressWarnings("unchecked")
        void move_to_front(int j) {

                if (support_end <= j) {
                        support_end++;
                }
                // L.splice (L.begin(), L, j);
                double[] sp = (double[]) L.get(j);
                L.remove(j);
                L.add(0, sp);
        }

        void mtf_mb(int i) {
                int pj = 0;
                support_end = points_begin();
                if ((B.size()) == d + 1) {
                        return;
                }
                for (int k = points_begin(); k != i;) {
                        pj = pj + 1;
                        int j = k++;
                        double[] sp = (double[]) L.get(j);
                        if (B.excess(sp) > 0) {
                                if (B.push(sp)) {
                                        mtf_mb(j);
                                        B.pop();
                                        move_to_front(j);
                                }
                        }
                }
        }

        public int nr_points() {
                return L.size();
        }

        public int nr_support_points() {
                return B.support_size();
        }

        void pivot_mb(int i) {
                int t = 1;
                mtf_mb(t);
                double max_e = 0.0, old_sqr_r = -1;
                pvt pivot = new pvt();
                do {
                        max_e = max_excess(t, i, pivot);
                        if (max_e > 0) {
                                t = support_end;
                                if (t == pivot.getVal()) {
                                        ++t;
                                }
                                old_sqr_r = B.squared_radius();
                                double[] sp = (double[]) L.get(pivot.getVal());
                                B.push(sp);
                                mtf_mb(support_end);
                                B.pop();
                                move_to_front(pivot.getVal());
                        }
                } while ((max_e > 0) && (B.squared_radius() > old_sqr_r));
        }

        int points_end() {
                return (L.size());
        }

        public double radius() {
                return ((1 + 0.00001) * Math.sqrt(B.squared_radius()));
        }

        public double squared_radius() {
                return B.squared_radius();
        }

        int support_points_end() {
                return support_end;
        }
}

---

knowrob_cad_parser
Author(s): Stefan Profanter
autogenerated on Tue Mar 5 12:15:33 2013