GraphPyramidLookupTable.cpp

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// *****************************************************************
// Filename:    GraphLookupTable.cpp
// Copyright:   Kai Welke, Chair Prof. Dillmann (IAIM),
//              Institute for Computer Science and Engineering (CSE),
//              University of Karlsruhe. All rights reserved.
// Author:      Kai Welke
// Date:        10.10.2008
// *****************************************************************
 
// *****************************************************************
// includes
// *****************************************************************
#include <cstdlib>
#include "GraphPyramidLookupTable.h"
#include "MathTools.h"
 
// *****************************************************************
// implementation of CGraphLookupTable
// *****************************************************************
// construction / destruction
CGraphPyramidLookupTable::CGraphPyramidLookupTable(int nMaxZenithBins, int nMaxAzimuthBins)
{
    m_nMaxZenithBins = nMaxZenithBins;
    m_nMaxAzimuthBins = nMaxAzimuthBins;
 
    m_nSubDivision = 2;
    m_nLevels = 0;
 
    CGraphLookupTable* pTable;
 
    while (nMaxZenithBins != 0)
    {
        pTable = new CGraphLookupTable(nMaxZenithBins, nMaxAzimuthBins);
 
        m_Tables.push_back(pTable);
 
        //      printf("Level %d: zenithbins: %d, azimuithbins: %d\n", m_nLevels, nMaxZenithBins, nMaxAzimuthBins);
 
        m_nLevels++;
        nMaxZenithBins /= m_nSubDivision;
        nMaxAzimuthBins /= m_nSubDivision;
    }
 
}
 
CGraphPyramidLookupTable::~CGraphPyramidLookupTable()
{
    std::list<CGraphLookupTable*>::iterator iter = m_Tables.begin();
 
    while (iter != m_Tables.end())
    {
        delete *iter;
 
        iter++;
    }
}
 
void CGraphPyramidLookupTable::buildLookupTable(CSphericalGraph* pGraph)
{
    std::list<CGraphLookupTable*>::iterator iter = m_Tables.begin();
 
    while (iter != m_Tables.end())
    {
        (*iter)->buildLookupTable(pGraph);
 
        iter++;
    }
}
 
int CGraphPyramidLookupTable::getClosestNode(Eigen::Vector3d position)
{
    TSphereCoord coords;
    MathTools::convert(position, coords);
 
    return getClosestNode(coords);
}
 
int CGraphPyramidLookupTable::getClosestNode(TSphereCoord position)
{
    bool bFinished = false;
    std::list<CGraphLookupTable*>::iterator iter = m_Tables.begin();
    int nIndex = -1;
 
    int L = 0;
 
    while (iter != m_Tables.end())
    {
        nIndex = (*iter)->getClosestNode(position, bFinished);
        //      printf("Result in level %d: index %d, finished: %d\n",L,nIndex,bFinished);
 
        if (bFinished)
        {
            break;
        }
 
        L++;
        iter++;
    }
 
    if (!bFinished)
    {
        printf("CGraphPyramidLookupTable:: no closest node found\n");
        exit(1);
    }
 
    return nIndex;
}