inflation_layer.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. 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.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     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" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */
 
#ifndef MESH_MAP__INFLATION_LAYER_H
#define MESH_MAP__INFLATION_LAYER_H
 
#include <dynamic_reconfigure/server.h>
#include <mesh_layers/InflationLayerConfig.h>
#include <mesh_map/abstract_layer.h>
 
namespace mesh_layers
{
const float EPSILON = 1e-9;
 
class InflationLayer : public mesh_map::AbstractLayer
{
  virtual bool readLayer();
 
  virtual bool writeLayer();
 
  virtual float defaultValue()
  {
    return 0;
  }
 
  virtual float threshold();
 
  void lethalCostInflation(const std::set<lvr2::VertexHandle>& lethals, const float inflation_radius,
                           const float inscribed_radius, const float inscribed_value, const float lethal_value);
 
  inline float computeUpdateSethianMethod(const float& d1, const float& d2, const float& a, const float& b,
                                          const float& dot, const float& F);
 
  inline bool waveFrontUpdate(lvr2::DenseVertexMap<float>& distances,
                              lvr2::DenseVertexMap<lvr2::VertexHandle>& predecessors, const float& max_distance,
                              const lvr2::DenseEdgeMap<float>& edge_weights, const lvr2::FaceHandle& fh,
                              const lvr2::BaseVector<float>& normal, const lvr2::VertexHandle& v1,
                              const lvr2::VertexHandle& v2, const lvr2::VertexHandle& v3);
 
  float fading(const float val);
 
  void waveCostInflation(const std::set<lvr2::VertexHandle>& lethals, const float inflation_radius,
                         const float inscribed_radius, const float inscribed_value, const float lethal_value);
 
  lvr2::BaseVector<float> vectorAt(const std::array<lvr2::VertexHandle, 3>& vertices,
                                   const std::array<float, 3>& barycentric_coords);
 
  lvr2::BaseVector<float> vectorAt(const lvr2::VertexHandle& vertex);
 
  const boost::optional<lvr2::VertexMap<lvr2::BaseVector<float>>&> vectorMap()
  {
    return vector_map;
  }
 
  void backToSource(const lvr2::VertexHandle& current_vertex,
                    const lvr2::DenseVertexMap<lvr2::VertexHandle>& predecessors,
                    lvr2::DenseVertexMap<lvr2::BaseVector<float>>& vector_map);
 
  virtual bool computeLayer();
 
  virtual lvr2::VertexMap<float>& costs();
 
  virtual std::set<lvr2::VertexHandle>& lethals()
  {
    return lethal_vertices;
  }  // TODO remove... layer types
 
  virtual void updateLethal(std::set<lvr2::VertexHandle>& added_lethal, std::set<lvr2::VertexHandle>& removed_lethal);
 
  virtual bool initialize(const std::string& name);
 
  lvr2::DenseVertexMap<float> riskiness;
 
  lvr2::DenseVertexMap<float> direction;
 
  lvr2::DenseVertexMap<lvr2::FaceHandle> cutting_faces;
 
  lvr2::DenseVertexMap<lvr2::BaseVector<float>> vector_map;
 
  lvr2::DenseVertexMap<float> distances;
 
  std::set<lvr2::VertexHandle> lethal_vertices;
 
  // Server for Reconfiguration
  boost::shared_ptr<dynamic_reconfigure::Server<mesh_layers::InflationLayerConfig>> reconfigure_server_ptr;
  dynamic_reconfigure::Server<mesh_layers::InflationLayerConfig>::CallbackType config_callback;
  // true if the first reconfigure config has been received; else false
  bool first_config;
  // current reconfigure config
  InflationLayerConfig config;
 
  void reconfigureCallback(mesh_layers::InflationLayerConfig& cfg, uint32_t level);
};
 
} /* namespace mesh_layers */
 
#endif  // MESH_MAP__INFLATION_LAYER_H