atlas.h

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#ifndef ATLASH
#define ATLASH

#include "box.h"
#include "heap.h"
#include "chart.h"
#if (_KDTREE)
  #include "btree.h"
#endif
#include "jacobian.h"
#include "hessian.h"
#include "filename.h"


#define ATLAS_VERBOSE 0

#define PLOT_ATLAS_IN_COLORS 1

#define PROJECT_WITH_PLANE 1


#define INIT_NUM_CHARTS  100

#define INIT_NUM_BIFURCATIONS  100

#if (_KDTREE)
  #define USE_ATLAS_TREE 1
#else
  #define USE_ATLAS_TREE 0
#endif

#define SAMPLING_RADIUS_REDUCTION_FACTOR 0.9

#define SIMPLE_BORDER 1

#define INIT_NUM_CHARTS_IN_ATLAS_HEAP 100

typedef struct {
  unsigned int nBoundaryAttempts;
  unsigned int nNotInBoundary;   
  unsigned int nExtensions;      
  unsigned int nImpossible;      
  unsigned int nSingImpossible;  
  unsigned int nLargeError;      
  unsigned int nNonRegularPoint; 
  unsigned int nNotInManifold;   
  unsigned int nQRSVDError;      
  unsigned int nFarFromParent;   
  unsigned int nInCollision;     
  unsigned int nRadiousChange;   
  unsigned int nGoodExtension;   
  unsigned int nBifurcations;    
  unsigned int nSmallAngle;      
  unsigned int nSPMissed;        
  unsigned int nNoSingularEnough;
  unsigned int nNoJumpBranch;    
} TAtlasStatistics;

typedef struct {
  unsigned int mID1;   
  unsigned int d1;     
  unsigned int mID2;   
  unsigned int d2;     
  double *p;           
} Tbifurcation;

typedef struct {
  unsigned int chartID;      
  double cost;               
  double beta;               
  unsigned int nPenalized;   
} TAtlasHeapElement;

void InitAtlasHeapElement(unsigned int mID,double c,double beta,TAtlasHeapElement *he);

void CopyAtlasHeapElement(void *he1,void *he2);

unsigned int GetAtlasHeapElementID(TAtlasHeapElement *he);

double GetAtlasHeapElementCost(TAtlasHeapElement *he);

boolean LessThanAtlasHeapElement(void *he1,void *he2,void *userData);

void PenalizeAtlasHeapElement(TAtlasHeapElement *he);

void DeleteAtlasHeapElement(void *he);

typedef struct {
  TAtlasBase *w;                   
  unsigned int m;                  
  unsigned int k;                  
  unsigned int n;                  
  double e;                        
  double ce;                       
  double r;                        
  boolean simpleChart;             
  unsigned int nCores;             
  boolean parallel;                
  unsigned int *tp;                
  unsigned int maxCharts;          
  unsigned int currentChart;       
  unsigned int npCharts;           
  Tchart **charts;                 
  unsigned int nrJ;                
  unsigned int ncJ;                
  TJacobian J;                     
  THessian *H;                     
  Tbox *ambient;                   
  unsigned int mBifurcations;      
  unsigned int nBifurcations;      
  unsigned int npBifurcations;     
  Tbifurcation **bifurcation;      
  #if (USE_ATLAS_TREE)
    TBTree tree;                   
  #endif
} Tatlas;

void InitAtlas(Tparameters *pr,boolean parallel,boolean simpleChart,
               unsigned int k,double e,double ce, double r,TAtlasBase *w,
               Tatlas *a);

unsigned int AddChart2Atlas(Tparameters *pr,double *ps,unsigned int parentID,
                            boolean *singularity,Tatlas *a);

unsigned int AddTrustedChart2Atlas(Tparameters *pr,double *ps,unsigned int parentID,
                                   boolean *singularity,Tatlas *a);

boolean InitAtlasFromPoint(Tparameters *pr,boolean parallel,boolean simpleChart,double *p,
                           TAtlasBase *w,Tatlas *a);


void BuildAtlasFromPoint(Tparameters *pr,double *p,boolean simpleChart,
                         TAtlasBase *w,Tatlas *a);

boolean MinimizeOnAtlas(Tparameters *pr,char *fname,double *p,TAtlasBase *w,
                        unsigned int maxSteps,
                        double (*costF)(Tparameters*,boolean,double*,void*),
                        void (*costG)(Tparameters*,boolean,double*,double**,void*),
                        void *costData,
                        Tatlas *a);

double GetAtlasRadius(Tatlas *a);

double GetAtlasError(Tatlas *a);

double GetAtlasErrorCurv(Tatlas *a);

TAtlasBase* GetAtlasWorld(Tatlas *a);

unsigned int GetAtlasAmbientDim(Tatlas *a);

unsigned int GetAtlasManifoldDim(Tatlas *a);

boolean Newton2ManifoldPlane(Tparameters *pr,double *point,double *vector,
                             double *pInit,double *p,Tatlas *a);

boolean ExtendAtlasFromPoint(Tparameters *pr,unsigned int parentID,double *t,
                             TAtlasStatistics *st,Tatlas *a);
boolean ExtendAtlasTowardPoint(Tparameters *pr,unsigned int parentID,double *t,
                               boolean collisionStops,
                               TAtlasStatistics *st,Tatlas *a);

boolean AtlasAStar(Tparameters *pr,double *p,double *time,
                   double *pl,unsigned int *ns,double ***path,Tatlas *a);

boolean AtlasGBF(Tparameters *pr,double *p,double *time,
                 double *pl,unsigned int *ns,double ***path,Tatlas *a);

void AtlasTree(Tparameters *pr,unsigned int nNodes,Tatlas *a);

unsigned int GetAtlasNumCharts(Tatlas *a);

Tchart *GetAtlasChart(unsigned int id,Tatlas *a);

boolean RandomPointInAtlas(Tparameters *pr,double scale,double *w,
                           unsigned int *nm,
                           double *t,double *p,Tatlas *a);

double AtlasVolume(Tparameters *pr,boolean collisionFree,Tatlas *a);

void SaveAtlasGraph(char *fname,Tatlas *a);

void SaveChartCenters(Tparameters *pr,char *fname,
                      boolean saveWithDummies,Tatlas *a);

void SaveSingularCharts(Tparameters *pr,char *fname,
                        boolean saveWithDummies,Tatlas *a);

void PlotAtlas(char *fname,int argc,char **arg,Tparameters *pr,FILE *fcost,
               unsigned int xID,unsigned int yID,unsigned int zID,Tatlas *a);

void TriangulateAtlas(char *fname,int argc,char **arg,Tparameters *pr,FILE *fcost,
                      unsigned int xID,unsigned int yID,unsigned int zID,Tatlas *a);

unsigned int AtlasMemSize(Tatlas *a);

void SaveAtlas(Tparameters *pr,Tfilename *fname,Tatlas *a);

void LoadAtlas(Tparameters *pr,Tfilename *fname,TAtlasBase *w,Tatlas *a);

void DeleteAtlas(Tatlas *a);

#endif