ChainApproximation.h
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1 /**
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @author Fabian Reister ( fabian dot reister at kit dot edu )
17  * @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
18  * @date 2021
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <Eigen/Core>
26 
28 {
29 
30  namespace detail
31  {
33  {
34  float distanceTh; // [mm]
35 
36  int maxIterations{-1};
37  };
38 
40  {
42  {
43  Converged,
45  };
47 
49 
50  float reductionFactor{0.F};
51  };
52 
53  std::ostream& operator<<(std::ostream& str, const ApproximationResult& res);
54  } // namespace detail
55 
57  {
58  public:
59  using Point = Eigen::Vector2f;
60  using Points = std::vector<Point>;
61 
64 
65  ChainApproximation(const Points& points, const Params& params);
66 
68 
69  [[nodiscard]] Points approximatedChain() const;
70 
71  private:
72  struct Triplet
73  {
74  Triplet(const int& a, const int& b, const int& c) : a(a), b(b), c(c)
75  {
76  }
77 
78  int a;
79  int b;
80  int c;
81  };
82 
83  using Triplets = std::vector<Triplet>;
84 
85  Triplets getTriplets() const;
86 
87  std::vector<float> computeDistances(const Triplets& triplets);
88  float computeDistance(const Triplet& triplet) const;
89 
90  bool approximateStep();
91 
92  Points points;
93 
94  std::vector<int> indices;
95 
96  const Params params;
97  };
98 
99 } // namespace armarx::navigation::algorithm
str
std::string str(const T &t)
Definition: UserAssistedSegmenterGuiWidgetController.cpp:42
armarx::navigation::algorithm::detail::ChainApproximationParams::maxIterations
int maxIterations
Definition: ChainApproximation.h:36
armarx::navigation::algorithm::detail::ChainApproximationParams
Definition: ChainApproximation.h:32
armarx::navigation::algorithm::ChainApproximation::approximate
ApproximationResult approximate()
Definition: ChainApproximation.cpp:27
armarx::navigation::algorithm::detail::ApproximationResult::condition
TerminationCondition condition
Definition: ChainApproximation.h:46
detail
Definition: OpenCVUtil.cpp:127
c
constexpr T c
Definition: UnscentedKalmanFilterTest.cpp:43
armarx::navigation::algorithm::ChainApproximation::approximatedChain
Points approximatedChain() const
Definition: ChainApproximation.cpp:172
armarx::navigation::algorithm::detail::ApproximationResult::TerminationCondition::IterationLimit
@ IterationLimit
armarx::ctrlutil::a
double a(double t, double a0, double j)
Definition: CtrlUtil.h:45
armarx::navigation::algorithm::detail::ApproximationResult::iterations
int iterations
Definition: ChainApproximation.h:48
armarx::navigation::algorithm::ChainApproximation::Points
std::vector< Point > Points
Definition: ChainApproximation.h:60
Point
Definition: PointCloud.h:21
armarx::navigation::algorithm
This file is part of ArmarX.
Definition: AStarPlanner.cpp:29
armarx::navigation::algorithm::ChainApproximation
Definition: ChainApproximation.h:56
armarx::navigation::algorithm::detail::operator<<
std::ostream & operator<<(std::ostream &str, const ApproximationResult &res)
Definition: ChainApproximation.cpp:178
armarx::navigation::algorithm::ChainApproximation::ChainApproximation
ChainApproximation(const Points &points, const Params &params)
Definition: ChainApproximation.cpp:18
armarx::navigation::algorithm::detail::ChainApproximationParams::distanceTh
float distanceTh
Definition: ChainApproximation.h:34
armarx::navigation::algorithm::detail::ApproximationResult::TerminationCondition::Converged
@ Converged
armarx::navigation::algorithm::detail::ApproximationResult::reductionFactor
float reductionFactor
Definition: ChainApproximation.h:50
armarx::navigation::algorithm::detail::ApproximationResult::TerminationCondition
TerminationCondition
Definition: ChainApproximation.h:41
armarx::navigation::algorithm::detail::ApproximationResult
Definition: ChainApproximation.h:39
armarx::navigation::algorithm::ChainApproximation::Params
detail::ChainApproximationParams Params
Definition: ChainApproximation.h:62