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Computations.h
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Computations.h
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// Prevent Visual Studio Intellisense from defining _WIN32 and _MSC_VER when we use
// Visual Studio to edit Linux or Borland C++ code.
#ifdef __linux__
# undef _WIN32
#endif // __linux__
#if defined(__GNUC__) || defined(__BORLANDC__)
# undef _MSC_VER
#endif // defined(__GNUC__) || defined(__BORLANDC__)
#ifndef COMPUTATIONS_H
#define COMPUTATIONS_H
#include "OSCore.h"
#include "rmatrix.h"
#include <deque>
#include <numeric>
#include <list>
class bound
{
public:
double val;
int opening;
double mark;
bound()
{
val = 0; opening = 0; mark = 0;
}
bound(const double& v, const int& o, const double& m)
{
val = v; opening = o; mark = m;
}
friend bool operator<(const bound &x, const bound &y)
{
return x.val < y.val;
}
};
#pragma region C_ACC_GROUP
// Group number in ygroup should be from 0 to nbgroups-1.
inline void C_q_in_group(interval& x, int q, vector<interval>& y, vector<int>& ygroup, int nbgroups)
{
vector<int> Vgroup(nbgroups); // >=0 when the group is allowed to add to the sum.
vector<bound> V;
if (x.isEmpty) return;
if (q <= 0) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, ygroup[i]));
V.push_back(bound(y[i].sup, -1, ygroup[i]));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, -1));
V.push_back(bound(x.sup, -1, -1));
sort(V.begin(), V.end());
int sum = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
if (V[i].opening < 0)
{
if (V[i].mark >= 0) Vgroup[(size_t)V[i].mark]++;
if ((sum >= q)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
}
if (V[i].mark >= 0) if (Vgroup[(size_t)V[i].mark] >= 0) sum = sum + V[i].opening;
if (V[i].opening > 0)
{
if (V[i].mark >= 0) Vgroup[(size_t)V[i].mark]--;
if ((sum >= q)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imin = min(imin, (int)i);
}
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
// Group number in ygroup should be from 0 to nbgroups-1.
inline void C_q_in_group(box& x, int q, vector<box>& yj, vector<int>& ygroup, int nbgroups)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_q_in_group(x[i], q, yi, ygroup, nbgroups);
}
}
inline void C_acc_group(interval& x, vector<interval>& y, vector<int>& ygroup, int nbgroups)
{
for (size_t qi = y.size(); qi >= 1; qi--)
{
interval xi = x;
C_q_in_group(xi, (int)qi, y, ygroup, nbgroups);
if (!xi.isEmpty)
{
x = xi;
return;
}
}
}
inline void C_acc_group(box& x, vector<box>& yj, vector<int>& ygroup, int nbgroups)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_acc_group(x[i], yi, ygroup, nbgroups);
}
}
// Group number in ygroup should be from 0 to nbgroups-1.
inline void C_acc_group_opt(interval& x, vector<interval>& y, vector<int>& ygroup, int nbgroups)
{
vector<int> Vgroup(nbgroups); // >=0 when the group is allowed to add to the sum.
vector<bound> V;
if (x.isEmpty) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, ygroup[i]));
V.push_back(bound(y[i].sup, -1, ygroup[i]));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, -1));
V.push_back(bound(x.sup, -1, -1));
sort(V.begin(), V.end());
int q = -1;
int sum = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
if (V[i].opening < 0)
{
if (V[i].mark >= 0) Vgroup[(size_t)V[i].mark]++;
if ((sum >= q)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
}
if (V[i].mark >= 0) if (Vgroup[(size_t)V[i].mark] >= 0) sum = sum + V[i].opening;
if (V[i].opening > 0)
{
if (V[i].mark >= 0) Vgroup[(size_t)V[i].mark]--;
if ((sum > q)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
q = sum;
imin = (int)i;
}
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
// Group number in ygroup should be from 0 to nbgroups-1.
inline void C_acc_group_opt(box& x, vector<box>& yj, vector<int>& ygroup, int nbgroups)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_acc_group_opt(x[i], yi, ygroup, nbgroups);
}
}
#pragma endregion
#pragma region C_ACC_MU
// Characteristic function associated with the interval z.
inline int dzeta(double x, interval& z)
{
if (z.isEmpty) return 0;
if ((z.inf <= x)&&(x <= z.sup)) return 1; else return 0;
}
// Characteristic function associated with the box z.
inline int dzeta_box(box& x, box& z)
{
if (In(x,z) != ifalse) return 1; else return 0;
}
inline double mu_q_in_mark_box(box& X, vector<box>& Z, void* pData)
{
vector<double> zmark = *((vector<double>*)pData);
size_t m = Z.size();
size_t k = 0;
double res = 0;
for (k = 0; k < m; k++)
{
res = res+zmark[k]*dzeta_box(X, Z[k]);
}
return res;
}
inline double mu_q_in_mark(double x, vector<interval>& z, void* pData, int curdim)
{
vector<double> zmark = *((vector<double>*)pData);
size_t m = z.size();
size_t k = 0;
double res = 0;
UNREFERENCED_PARAMETER(curdim);
for (k = 0; k < m; k++)
{
// res = res+zmark[k]*dzeta(x, z[k]);
if ((!z[k].isEmpty)&&(z[k].inf <= x)&&(x <= z[k].sup)) res = res+zmark[k];
}
return res;
}
inline double mu_q_in_box(box& X, vector<box>& Z, void* pData)
{
size_t m = Z.size();
size_t k = 0;
double res = 0;
UNREFERENCED_PARAMETER(pData);
for (k = 0; k < m; k++)
{
res = res+dzeta_box(X, Z[k]);
}
res = res/m;
return res;
}
inline double mu_q_in(double x, vector<interval>& z, void* pData, int curdim)
{
size_t m = z.size();
size_t k = 0;
double res = 0;
UNREFERENCED_PARAMETER(pData);
UNREFERENCED_PARAMETER(curdim);
for (k = 0; k < m; k++)
{
// res = res+dzeta(x, z[k]);
if ((!z[k].isEmpty)&&(z[k].inf <= x)&&(x <= z[k].sup)) res = res+1;
}
res = res/m;
return res;
}
inline void C_mu(interval& x, vector<interval>& y, double (*mu)(double, vector<interval>&, void*, int), double mu0, void* pData, int curdim)
{
vector<bound> V;
if (x.isEmpty) return;
if (mu0 <= 0) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, 0));
V.push_back(bound(y[i].sup, -1, 0));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, 0));
V.push_back(bound(x.sup, -1, 0));
sort(V.begin(), V.end());
double mu_res = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
mu_res = mu(V[i].val, y, pData, curdim);
if ((mu_res >= mu0)&&(V[i].opening > 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imin = min(imin, (int)i);
}
if ((mu_res >= mu0)&&(V[i].opening < 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
inline void C_mu(box& x, vector<box>& yj, double (*mu)(double, vector<interval>&, void*, int), double mu0, void* pData)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_mu(x[i], yi, mu, mu0, pData, i);
}
}
inline void C_acc_mu(interval& x, vector<interval>& y, double (*mu)(double, vector<interval>&, void*, int), void* pData, int curdim)
{
vector<bound> V;
if (x.isEmpty) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, 0));
V.push_back(bound(y[i].sup, -1, 0));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, 0));
V.push_back(bound(x.sup, -1, 0));
sort(V.begin(), V.end());
double mu0 = -1;
double mu_res = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
mu_res = mu(V[i].val, y, pData, curdim);
if ((mu_res > mu0)&&(V[i].opening > 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
mu0 = mu_res;
imin = (int)i;
}
if ((mu_res >= mu0)&&(V[i].opening < 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
inline void C_acc_mu(box& x, vector<box>& yj, double (*mu)(double, vector<interval>&, void*, int), void* pData)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_acc_mu(x[i], yi, mu, pData, i);
}
}
#pragma endregion
#pragma region C_ACC_MARK
// qmark should be >= 0.
inline void C_q_in_mark(interval& x, double qmark, vector<interval>& y, vector<double>& ymark)
{
vector<bound> V;
if (x.isEmpty) return;
if (qmark <= 0) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, ymark[i]));
V.push_back(bound(y[i].sup, -1, ymark[i]));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, 0));
V.push_back(bound(x.sup, -1, 0));
sort(V.begin(), V.end());
double sum = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
if ((sum >= qmark)&&(V[i].opening < 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
sum = sum + V[i].opening*V[i].mark;
if ((sum >= qmark)&&(V[i].opening > 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imin = min(imin, (int)i);
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
inline void C_q_in_mark(box& x, double qmark, vector<box>& yj, vector<double>& ymark)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_q_in_mark(x[i], qmark, yi, ymark);
}
}
inline void C_acc_mark(interval& x, vector<interval>& y, vector<double>& ymark)
{
vector<bound> V;
if (x.isEmpty) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, ymark[i]));
V.push_back(bound(y[i].sup, -1, ymark[i]));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, 0));
V.push_back(bound(x.sup, -1, 0));
sort(V.begin(), V.end());
double qmark = -oo;
double sum = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
if ((sum >= qmark)&&(V[i].opening < 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
sum = sum + V[i].opening*V[i].mark;
if ((sum > qmark)&&(V[i].opening > 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
qmark = sum;
imin = (int)i;
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
inline void C_acc_mark(box& x, vector<box>& yj, vector<double>& ymark)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_acc_mark(x[i], yi, ymark);
}
}
// qmark should be >= 0.
inline void C_q_in_mark(interval& x, int qmark, vector<interval>& y, vector<int>& ymark)
{
vector<bound> V;
if (x.isEmpty) return;
if (qmark <= 0) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, ymark[i]));
V.push_back(bound(y[i].sup, -1, ymark[i]));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, 0));
V.push_back(bound(x.sup, -1, 0));
sort(V.begin(), V.end());
int sum = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
if ((sum >= qmark)&&(V[i].opening < 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
sum = sum + V[i].opening*(int)V[i].mark;
if ((sum >= qmark)&&(V[i].opening > 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imin = min(imin, (int)i);
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
inline void C_q_in_mark(box& x, int qmark, vector<box>& yj, vector<int>& ymark)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_q_in_mark(x[i], qmark, yi, ymark);
}
}
inline void C_acc_mark(interval& x, vector<interval>& y, vector<int>& ymark)
{
int qmark_max = std::accumulate(ymark.begin(), ymark.end(), 0);
for (int qmarki = qmark_max; qmarki >= 1; qmarki--)
{
interval xi = x;
C_q_in_mark(xi, qmarki, y, ymark);
if (!xi.isEmpty)
{
x = xi;
return;
}
}
}
inline void C_acc_mark(box& x, vector<box>& yj, vector<int>& ymark)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_acc_mark(x[i], yi, ymark);
}
}
#pragma endregion
#pragma region C_ACC
inline void C_acc(interval& x, vector<interval>& y)
{
for (size_t qi = y.size(); qi >= 1; qi--)
{
interval xi = x;
C_q_in(xi, (int)qi, y);
if (!xi.isEmpty)
{
x = xi;
return;
}
}
}
inline void C_acc(box& x, vector<box>& yj)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_acc(x[i], yi);
}
}
inline void C_acc_alternate(box& x, vector<box>& yj)
{
for (size_t qi = yj.size(); qi >= 1; qi--)
{
box xi = x;
C_q_in(xi, (int)qi, yj);
if (!xi.IsEmpty())
{
x = xi;
return;
}
}
}
inline void C_acc_opt(interval& x, vector<interval>& y)
{
vector<bound> V;
if (x.isEmpty) return;
for (size_t i = 0; i < y.size(); i++)
{
if (!y[i].isEmpty)
{
V.push_back(bound(y[i].inf, 1, 1));
V.push_back(bound(y[i].sup, -1, 1));
}
}
if (V.size() == 0)
{
x = interval();
return;
}
V.push_back(bound(x.inf, 1, 0));
V.push_back(bound(x.sup, -1, 0));
sort(V.begin(), V.end());
int q = -1;
int sum = 0;
int imin = (int)(V.size());
int imax = -1;
for (size_t i = 0; i < V.size(); i++)
{
if ((sum >= q)&&(V[i].opening < 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
imax = (int)i;
}
sum = sum + V[i].opening*(int)V[i].mark;
if ((sum > q)&&(V[i].opening > 0)&&(V[i].val >= x.inf)&&(V[i].val <= x.sup))
{
q = sum;
imin = (int)i;
}
}
if ((imax == -1)||(imin == (int)(V.size()))) x = interval();
else x = interval(V[imin].val, V[imax].val);
}
inline void C_acc_opt(box& x, vector<box>& yj)
{
vector<box> y(yj.size());
for (size_t j = 0; j < y.size(); j++)
{
y[j] = x&yj[j];
}
vector<interval> yi(y.size());
for (int i = 1; i <= x.dim; i++)
{
for (size_t j = 0; j < y.size(); j++)
yi[j] = y[j][i];
C_acc_opt(x[i], yi);
}
}
#pragma endregion
#pragma region SIVIA
inline void BoxTranslate(box &Src, box &Dest, interval distance, interval angle, int dir)
{
box P = box(2);
interval xvect = distance*Cos(angle);
interval yvect = distance*Sin(angle);
if (dir == 1)
{
P[1] = Src[1]+xvect;
P[2] = Src[2]+yvect;
Dest = Inter(Dest,P);
}
else
{
P[1] = Dest[1]-xvect;
P[2] = Dest[2]-yvect;
Src = Inter(Src,P);
}
}
//// Not tested nor finished...
//void CNotInSegment(interval& mx, interval& my, double ax, double ay, double bx, double by)
//{
// // contracte relativement à la contrainte : "m n'appartient pas au segment [a,b]"
// Cnotin(mx, Union(interval(ax, ax), interval(bx, bx)));
// Cnotin(my, Union(interval(ay, ay), interval(by, by)));
// interval ma_x = ax - mx;
// interval ma_y = ay - my;
// interval ma_x1 = ma_x;
// interval ma_y1 = ma_y;
// interval ma_x2 = ma_x;
// interval ma_y2 = ma_y;
// double ab_x = bx - ax;
// double ab_y = by - ay;
// interval z1 = interval(-oo, 0);
// interval z2 = interval(0, oo);
// CDet(z1, ab_x, ab_y, ma_x1, ma_y1, -1);
// CDet(z2, ab_x, ab_y, ma_x2, ma_y2, -1);
// ma_x = Inter(ma_x,Union(ma_x1,ma_x2));
// ma_y = Inter(ma_y,Union(ma_y1,ma_y2));
// Cmoins(ma_y, ay, my, -1);
// Cmoins(ma_x, ax, mx, -1);
// if ((mx.isEmpty) || (my.isEmpty)) { mx.isEmpty = true; my.isEmpty = true; };
//}
inline void Contract(box& P, deque< vector<interval> >& d_all_mes_vector, deque<double>& alpha_mes_vector,
interval& psihat,
double& d_max_err, double& alpha_max_err, int& sdir, interval& alphashat,
vector<double>& walls_xa, vector<double>& walls_ya, vector<double>& walls_xb, vector<double>& walls_yb,
vector<double>& circles_x, vector<double>& circles_y, vector<double>& circles_r)
{
int i = 0, j = 0;
vector<box> Pi;
vector<int> Pigroup;
Pi.clear();
Pigroup.clear();
for (i = 0; i < (int)alpha_mes_vector.size(); i++)
{
vector<box> Pj;
Pj.clear();
interval alphahat = interval(alpha_mes_vector[i]-alpha_max_err,alpha_mes_vector[i]+alpha_max_err);
for (j = 0; j < (int)d_all_mes_vector[i].size(); j++)
{
interval dhat = d_all_mes_vector[i][j]+interval(-d_max_err,+d_max_err);
//
// Activate only if using getfirst or getlast...
// If no obstacle found...
//if ((Center(d_all_mes_vector[i][j]) < 0)||(Center(d_all_mes_vector[i][j]) > rangescale)||(d_all_mes_vector[i][j].isEmpty))
//{
// dhat = interval(rangescale-d_max_err,oo);
// printf("Bad dhat\n");
//}
//
box Pxyj = P;
box Pt = box(interval(-oo,oo),interval(-oo,oo));
BoxTranslate(Pxyj, Pt, dhat, sdir*alphahat+alphashat+psihat, 1);
interval xt = Pt[1];
interval yt = Pt[2];
CPointInSegmentsOrCircles(xt,yt,walls_xa,walls_ya,walls_xb,walls_yb,circles_x,circles_y,circles_r);
if ((!xt.isEmpty)&&(!yt.isEmpty))
{
Pt = box(xt,yt);
BoxTranslate(Pxyj, Pt, dhat, sdir*alphahat+alphashat+psihat, -1);
//Pj.push_back(Pxyj);
Pi.push_back(Pxyj);
Pigroup.push_back(i);
}
}
//box Pxy = Union(Pj);
//if (!Pxy.IsEmpty())
//{
// Pi.push_back(Pxy);
//}
}
if (Pi.size() > 0)
{
//C_q_in_group(P, alpha_mes_vector.size()-nb_outliers, Pi, Pigroup, alpha_mes_vector.size());
//C_acc_group(P, Pi, Pigroup, alpha_mes_vector.size());
//C_q_in(P, Pi.size()-nb_outliers, Pi);
//C_q_in(P, alpha_mes_vector.size()-nb_outliers, Pi);
C_acc_opt(P, Pi);
C_acc_opt(P, Pi);
}
}
inline void Contract_dyn(box& P, deque< vector<interval> >& d_all_mes_vector, deque<double>& alpha_mes_vector,
deque<double>& t_history_vector, deque<interval>& xhat_history_vector, deque<interval>& yhat_history_vector,
deque<interval>& psihat_history_vector, deque<interval>& vrxhat_history_vector,
double& d_max_err, double& alpha_max_err, int& sdir, interval& alphashat,
vector<double>& walls_xa, vector<double>& walls_ya, vector<double>& walls_xb, vector<double>& walls_yb,
vector<double>& circles_x, vector<double>& circles_y, vector<double>& circles_r)
{
int i = 0, j = 0, k = 0;
vector<box> Pi;
vector<int> Pigroup;
Pi.clear();
Pigroup.clear();
for (i = 0; i < (int)alpha_mes_vector.size(); i++)
{
vector<box> Pj;
Pj.clear();
interval alphahat = interval(alpha_mes_vector[i]-alpha_max_err,alpha_mes_vector[i]+alpha_max_err);
for (j = 0; j < (int)d_all_mes_vector[i].size(); j++)
{
interval dhat = d_all_mes_vector[i][j]+interval(-d_max_err,+d_max_err);
//
// Activate only if using getfirst or getlast...
// If no obstacle found...
//if ((Center(d_all_mes_vector[i][j]) < 0)||(Center(d_all_mes_vector[i][j]) > rangescale)||(d_all_mes_vector[i][j].isEmpty))
//{
// dhat = interval(rangescale-d_max_err,oo);
// printf("Bad dhat\n");
//}
//
box Pxyj = box(xhat_history_vector[i],yhat_history_vector[i]);
box Pt = box(interval(-oo,oo),interval(-oo,oo));
BoxTranslate(Pxyj, Pt, dhat, sdir*alphahat+alphashat+psihat_history_vector[i], 1);
interval xt = Pt[1];
interval yt = Pt[2];
CPointInSegmentsOrCircles(xt,yt,walls_xa,walls_ya,walls_xb,walls_yb,circles_x,circles_y,circles_r);
if ((!xt.isEmpty)&&(!yt.isEmpty))
{
Pt = box(xt,yt);
BoxTranslate(Pxyj, Pt, dhat, sdir*alphahat+alphashat+psihat_history_vector[i], -1);
// Propagate forward to current position...
interval xk = xhat_history_vector[i] & Pxyj[1];
interval yk = yhat_history_vector[i] & Pxyj[2];
for (k = i; k < (int)alpha_mes_vector.size()-1; k++)
{
double dt = t_history_vector[k+1]-t_history_vector[k];
xk = xhat_history_vector[k+1] & (xk+dt*vrxhat_history_vector[k]*Cos(psihat_history_vector[k]));
yk = yhat_history_vector[k+1] & (yk+dt*vrxhat_history_vector[k]*Sin(psihat_history_vector[k]));
if ((xk.isEmpty)||(yk.isEmpty)) break;
}
Pxyj = box(xk,yk);
if (!Pxyj.IsEmpty())
{
//Pj.push_back(Pxyj);
Pi.push_back(Pxyj);
Pigroup.push_back(i);
}
}
}
//box Pxy = Union(Pj);
//if (!Pxy.IsEmpty())
//{
// Pi.push_back(Pxy);
//}
}
if (Pi.size() > 0)
{
//C_q_in_group(P, alpha_mes_vector.size()-nb_outliers, Pi, Pigroup, alpha_mes_vector.size());
//C_acc_group(P, Pi, Pigroup, alpha_mes_vector.size());
//C_q_in(P, Pi.size()-nb_outliers, Pi);
//C_q_in(P, alpha_mes_vector.size()-nb_outliers, Pi);
C_acc_opt(P, Pi);
C_acc_opt(P, Pi);
}
}
inline box SIVIA(box P0, deque< vector<interval> >& d_all_mes_vector, deque<double>& alpha_mes_vector,
interval& psihat,
double& d_max_err, double& alpha_max_err, int& sdir, interval& alphashat,
vector<double>& walls_xa, vector<double>& walls_ya, vector<double>& walls_xb, vector<double>& walls_yb,
vector<double>& circles_x, vector<double>& circles_y, vector<double>& circles_r)
{
list<box> L;
vector<box> Result;
box P, P1, P2;
int nb_bisections = 0;
L.push_back(P0);
while (!L.empty())
{
P = L.front();
L.pop_front();
Contract(P, d_all_mes_vector, alpha_mes_vector,
psihat,
d_max_err, alpha_max_err, sdir, alphashat,
walls_xa, walls_ya, walls_xb, walls_yb,
circles_x, circles_y, circles_r);
if (!P.IsEmpty())
{
//if (P.Width() < 0.1)
if (nb_bisections > 10)
{
/* //
COORDSYSTEM2IMG csMap2FullImg;
InitCS2ImgEx(&csMap2FullImg, &csMap, imgwidth, imgheight, BEST_RATIO_COORDSYSTEM2IMG);
cvRectangle(img,
cvPoint(
XCS2JImg(&csMap2FullImg, Center(P[1])-0.5*Width(P[1])),
YCS2IImg(&csMap2FullImg, Center(P[2])-0.5*Width(P[2]))),
cvPoint(
XCS2JImg(&csMap2FullImg, Center(P[1])+0.5*Width(P[1])),
YCS2IImg(&csMap2FullImg, Center(P[2])+0.5*Width(P[2]))),
CV_RGB_CvScalar(0, 128, 128), CV_FILLED, 8, 0);
cvRectangle(img,
cvPoint(
XCS2JImg(&csMap2FullImg, Center(P[1])-0.5*Width(P[1])),
YCS2IImg(&csMap2FullImg, Center(P[2])-0.5*Width(P[2]))),
cvPoint(
XCS2JImg(&csMap2FullImg, Center(P[1])+0.5*Width(P[1])),
YCS2IImg(&csMap2FullImg, Center(P[2])+0.5*Width(P[2]))),
CV_RGB_CvScalar(0, 255, 255), 1, 8, 0);
*/ //
Result.push_back(P);
}
else
{
Bisect(P, P1, P2);
L.push_back(P1);
L.push_back(P2);
nb_bisections++;
}
}
}
P = Union(Result);
//printf("nb_bisections = %d\n", nb_bisections);
return P;
}
inline box SIVIA_dyn(box P0, deque< vector<interval> >& d_all_mes_vector, deque<double>& alpha_mes_vector,
deque<double>& t_history_vector, deque<interval>& xhat_history_vector, deque<interval>& yhat_history_vector,
deque<interval>& psihat_history_vector, deque<interval>& vrxhat_history_vector,
double& d_max_err, double& alpha_max_err, int& sdir, interval& alphashat,
vector<double>& walls_xa, vector<double>& walls_ya, vector<double>& walls_xb, vector<double>& walls_yb,
vector<double>& circles_x, vector<double>& circles_y, vector<double>& circles_r)
{
list<box> L;
vector<box> Result;
box P, P1, P2;
int nb_bisections = 0;
L.push_back(P0);
while (!L.empty())
{
P = L.front();
L.pop_front();
Contract_dyn(P, d_all_mes_vector, alpha_mes_vector,
t_history_vector, xhat_history_vector, yhat_history_vector,
psihat_history_vector, vrxhat_history_vector,
d_max_err, alpha_max_err, sdir, alphashat,
walls_xa, walls_ya, walls_xb, walls_yb,
circles_x, circles_y, circles_r);
if (!P.IsEmpty())
{
//if (P.Width() < 0.1)
if (nb_bisections > 10)
{
/* //
COORDSYSTEM2IMG csMap2FullImg;
InitCS2ImgEx(&csMap2FullImg, &csMap, imgwidth, imgheight, BEST_RATIO_COORDSYSTEM2IMG);
cvRectangle(img,