samples.h

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#ifndef SAMPLESH
#define SAMPLESH

#include "chart.h"
#include "parameters.h"
#include "link.h"
#include "filename.h"

#define INIT_NUM_SAMPLES 100

#define PATH_NODES 1


#define SMOOTH_RANDOM 0

#define SMOOTH_GRADIENT 1


#define SMOOTH_SHORTCUT 2

#define SMOOTH_EFFORT 3

#define SMOOTH_DISPERSION 4

#define DEFAULT_CONNECT ConnectSamplesChart

#define KINEMATIC_SUBSPACE 0

typedef double (*TStepCost)(Tparameters *,unsigned int *,
                           boolean *,
                           unsigned int,
                           double *,double *,double *,
                           unsigned int,
                           Tchart*,Tchart *,Tchart *,Tworld *);

typedef boolean (*TStepCostGradient)(Tparameters *,unsigned int *,
                                     boolean *,unsigned int,
                                     double *,double *,double *,double *,double *,
                                     Tchart *,Tchart *,Tchart *,Tchart *,Tchart *,
                                     TJacobian *,TStepCost,
                                     double *,Tworld *);

void InitSamples(unsigned int *ms,unsigned int *ns,double ***path);

void SmoothSamples(Tparameters *pr,boolean parallel,int mode,
                   unsigned int maxIterations,
                   unsigned int ns,double **path,
                   unsigned int *sns,double ***spath,TAtlasBase *w);

void ConcatSamples(unsigned int nvs,
                   unsigned int ns1,double **path1,
                   unsigned int ns2,double **path2,
                   unsigned int *ns,double ***path);

void ReverseConcatSamples(unsigned int nvs,
                          unsigned int ns1,double **path1,
                          unsigned int ns2,double **path2,
                          unsigned int *ns,double ***path);

void ReverseSamples(unsigned int ns,double **path);

void AddSample2Samples(unsigned int nv,double *sample,
                       unsigned int nvs,boolean *systemVars,
                       unsigned int *ms,unsigned int *ns,double ***path);

double ConnectSamplesChart(Tparameters *pr,unsigned int *tp,
                           boolean *sv,Tbox *domain,
                           unsigned int m,unsigned int n,
                           double *s1,double *s2,
                           double md,boolean checkCollisions,
                           TJacobian *sJ,
                           boolean *reached,boolean *collision,double *lastSample,
                           unsigned int *ns,double ***path,
                           TAtlasBase *w);

double ConnectSamples(Tparameters *pr,unsigned int *tp,
                      boolean *sv,Tbox *domain,
                      unsigned int m,unsigned int n,
                      double *s1,double *s2,
                      double md,boolean checkCollisions,
                      TJacobian *sJ,
                      boolean *reached,boolean *collision,double *lastSample,
                      unsigned int *ns,double ***path,
                      TAtlasBase *w);

double PathLength(unsigned int *tp,
                  boolean *sv,unsigned int m,
                  unsigned int np,double **point);

double PathEffort(Tparameters *p,
                  unsigned int m,unsigned int np,double **point,
                  Tworld *w);
  
unsigned int ReadOneSample(Tparameters *p,char *fname,unsigned int nvs,double **s);

unsigned int ReadTwoSamples(Tparameters *p,char *fname,unsigned int nvs,double **s1,double **s2);

void SaveSamples(char *fname,char *suffix,unsigned int nvs,
                 unsigned int ns,double **path);

void SaveSamplesN(char *fname,boolean smooth,unsigned int n,unsigned int nvs,
                  unsigned int ns,double **path);
/*boolean LoadSamples(char *fname,boolean smooth,unsigned int *nvs,
  unsigned int *ns,double ***path);*/

boolean LoadSamples(Tfilename *fname,unsigned int *nvs,
                    unsigned int *ns,double ***path);


void PlotSamples(Tparameters *p,Tplot3d *p3d,
                 unsigned int xID,unsigned int yID,unsigned int zID,
                 unsigned int ns,double **path);

void PlotForceField(Tparameters *p,Tplot3d *p3d,
                    unsigned int xID,unsigned int yID,unsigned int zID,
                    Tworld *w,
                    unsigned int ns,double **sols);

void DeleteSamples(unsigned int ns,double **path);

#endif