graphTools.h

#ifndef GENERAL_H
#define GENERAL_H
#include <set>
#include <opencv2/calib3d.hpp> //LMEDS
#include <vector>
#include <utility>                   // for std::pair
#include <algorithm>                 // for std::for_each
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/filtered_graph.hpp>
#include <boost/graph/graph_utility.hpp>
#include <map>
#include <boost/property_map/property_map.hpp> //property map
#include <boost/graph/copy.hpp>
#include <utility>
#include "disturbance.h"
#include "box2d_helpers.h"
 
const float NAIVE_PHI=10.0;
 
class Task;
enum VERTEX_LABEL {UNLABELED, MOVING, ESCAPE, ESCAPE2};
 
struct CompareValue{
    CompareValue()=default;
    template <class V, class M>
    bool operator()(const std::tuple<V,M, float> & p1, const std::tuple<V, M, float> &p2) const{
        return std::get<2>(p1)< std::get<2>(p2);
    }
};
 
struct Edge{
    float probability=1.0;
    int step=0;
    int it_observed=-1; //last iteration where this edge was observed
    bool overrideZeroSteps=false; //set to true if an edge with no steps should not be considered a self-edge
 
    Edge()=default;
 
    float weighted_probability(int it){
        float result=0;
        if (it_observed>=0){
            result=probability*float(it_observed)/float(it);
        }
        return result;
    }
 
    bool enableOverride();
};
 
struct State{
    Disturbance Di; //initial Disturbance
    Disturbance Dn; //new Disturbance
    b2Transform endPose = b2Transform_zero, start = b2Transform_zero; 
    simResult::resultType outcome=simResult::successful;
    std::vector <Direction> options;
    bool filled =0;
    int nObs=0;
    float phi=NAIVE_PHI; //arbitrarily large phi
    VERTEX_LABEL label=VERTEX_LABEL::UNLABELED;
    Direction direction=DEFAULT;
 
 
    
    State()=default;
 
    State(const b2Transform &_start): start(_start){}
 
    State(const b2Transform &_start, const Disturbance& di, const Direction & dir): start(_start), Di(di), direction(dir){}
 
    bool visited(){
        return phi<NAIVE_PHI;
    }
 
    void resetVisited(){
        phi=NAIVE_PHI;
    }
 
    b2Transform start_from_Di()const;
 
    b2Transform start_from_Dn()const;
 
    b2Transform end_from_Dn()const;
 
    b2Transform end_from_Di()const;
 
    float distance()const;
 
    b2Transform travel_transform();
 
    bool isTurning()const{
        return direction==LEFT || direction==RIGHT;
    }
 
    bool isGoingStraight()const{
        return direction==DEFAULT || direction==STOP;
    }
 
};
 
 
struct StateDifference{
    b2Transform pose=b2Transform_zero;
    BodyFeatures Di, Dn;
    enum WHAT_D_FLAG{DI, DN};
 
    StateDifference()=default;
 
    StateDifference(const State& s1, const State& s2){
        init(s1, s2);
    }
 
    float sum(){
        return sum_r()+sum_D(Di)+ sum_D(Dn);
    }
 
    float sum_r(){
        return fabs(pose.p.x)+fabs(pose.p.y)+fabs(pose.q.GetAngle());
    }
 
    float sum_D_pos(const BodyFeatures& bf){
        return fabs(bf.pose.p.x)+fabs(bf.pose.p.y)+bf.pose.q.GetAngle();
    }
 
    float sum_D_shape(const BodyFeatures& bf){
        return fabs(bf.width())+fabs(bf.length());
    }
 
    float sum_D(const BodyFeatures& bf){
        return sum_D_pos(bf)+sum_D_shape(bf);
    }
    
    float get_sum(int mt);
 
    void init(const State& s1,const State& s2);
 
    void fill_invalid_bodyfeatures(BodyFeatures &);
 
    void fill_valid_bodyfeatures(BodyFeatures & bf, const State& s1, const State& s2, WHAT_D_FLAG flag);
};
 
 
typedef boost::adjacency_list<boost::setS, boost::vecS, boost::bidirectionalS, State, Edge> TransitionSystem;
 
typedef boost::graph_traits<TransitionSystem>::vertex_iterator vertexIterator; 
typedef boost::graph_traits<TransitionSystem>::vertex_descriptor vertexDescriptor;
typedef boost::graph_traits<TransitionSystem>::edge_descriptor edgeDescriptor;
typedef boost::graph_traits<TransitionSystem>::edge_iterator edgeIterator;
 
//SPECIAL VERTICES
const vertexDescriptor DUMMY=1;
 
const vertexDescriptor MOVING_VERTEX=0; 
 
struct is_not_v{
    is_not_v(){}
    is_not_v(vertexDescriptor _cv): cv(_cv){}
 
    bool operator()(edgeDescriptor e){
        return e.m_target!=cv;
    }   
 
    private:
    vertexDescriptor cv=0;
};
 
struct Connected{
    Connected(){}
    Connected(TransitionSystem * ts): g(ts){}
    
    bool operator()(const vertexDescriptor& v)const{
        bool in= boost::in_degree(v, *g)>0;
        bool out =boost::out_degree(v, *g)>0;
        return (in || out) || v==0 ;
    }
private:
TransitionSystem * g=NULL;
};
 
 
 
namespace gt{
 
    void fill(simResult sr, State* s=NULL, Edge* e=NULL);
 
    int simToMotorStep(int simstep);
 
    int distanceToSimStep(const float& s, const float& ds);
 
    void update(edgeDescriptor e,  std::pair <State, Edge> sk, TransitionSystem& g, bool current, int it); 
    void set(edgeDescriptor e,  std::pair <State, Edge>sk, TransitionSystem&, bool current, int it);
 
 
    std::pair< bool, edgeDescriptor> getMostLikely(TransitionSystem&,std::vector<edgeDescriptor>, int);
 
    std::vector <edgeDescriptor> outEdges(TransitionSystem&, vertexDescriptor, Direction); //returns a vector containing all the out-edges of a vertex which have the specified direction
 
    Disturbance getExpectedDisturbance(TransitionSystem&, vertexDescriptor, Direction, int);
 
    std::pair <bool,edgeDescriptor> visitedEdge(const std::vector <edgeDescriptor>& es, TransitionSystem& g, vertexDescriptor cv=TransitionSystem::null_vertex());
 
 
    std::pair <edgeDescriptor, bool> add_edge(const vertexDescriptor&, const vertexDescriptor &, TransitionSystem&, const int &, Direction d=UNDEFINED); //wrapper around boost function, disallows edges to self
 
    bool check_edge_direction(const std::pair<edgeDescriptor, bool> &, TransitionSystem&, Direction);
    std::vector<vertexDescriptor>::iterator to_task_end(edgeDescriptor &e, TransitionSystem &g, const std::vector<vertexDescriptor> & plan, std::vector<vertexDescriptor>::iterator it); //in a vector, finds vertices belonging to the same task and skips to the end fo the task
 
 
 
}
 
struct InPlan{
    InPlan()=default;
 
    InPlan(std::vector <vertexDescriptor>* _p):plan(_p){}
 
    bool operator()(const edgeDescriptor & e)const{
        return (check_vector_for(*plan, e.m_target)!=plan->end());
    }
 
    private:
    std::vector<vertexDescriptor> *plan;
};
 
 
 
struct NotSelfEdge{
    NotSelfEdge()=default;
    NotSelfEdge(TransitionSystem * _g): g(_g){}
 
    bool operator()(const edgeDescriptor & e) const {
        bool not_self= e.m_source!=e.m_target && (*g)[e].step!=0  ; 
        // if (e.m_source==e.m_target){
        //  auto def_kin =(*default_kinematics.find((*g)[e.m_target].direction)).second;
 
        // }
        return not_self;
    }
    private:
    TransitionSystem * g=NULL;
};
 
struct ViableEdge{
    ViableEdge()=default;
    ViableEdge(TransitionSystem * _g): g(_g){}
 
    bool operator()(const edgeDescriptor & e) const {
        NotSelfEdge nse(g);
        bool not_self= nse(e) || e.m_source==e.m_target && (*g)[e].step!=0 && (*g)[e].it_observed>=0;
        return not_self;
    }
    private:
    TransitionSystem * g=NULL;
};
 
struct InviableEdge{
    InviableEdge()=default;
    InviableEdge(TransitionSystem * _g): g(_g){}
 
    bool operator()(const edgeDescriptor & e) const {
        ViableEdge ve(g);
        return !ve(e);
    }
 
private:
TransitionSystem * g=NULL;
};
 
struct SameIteration{
    SameIteration()=default;
    SameIteration(TransitionSystem & _g, int _i): g(_g), iteration(_i){}
 
    bool operator()(const edgeDescriptor & e) const {
        return g[e].it_observed==iteration;
    }
    private:
    TransitionSystem & g;
    int iteration=-1;
};
 
 
 
typedef boost::filtered_graph<TransitionSystem, ViableEdge, Connected> FilteredTS;
 
 
class StateMatcher{
    public:
        //@brief {_FALSE=0, D_NEW=2, DN_POSE=3, _TRUE=1, ANY=4, D_INIT=5, ABSTRACT=6, DI_POSE=7, DN_SHAPE=8, DI_SHAPE=9, POSE=10};
        enum MATCH_TYPE {_FALSE, D_NEW, DN_POSE, _TRUE, ANY, D_INIT, ABSTRACT, DI_POSE, DN_SHAPE, DI_SHAPE, POSE};
 
        float mu=0.001;
        StateMatcher()=default;
 
        struct StateMatch{
 
            bool exact(){
                return pose() && abstract();
            }
 
            bool pose(){
                return position && angle;
            }
 
            bool abstract(){  //states match Di and Dn regardless of objective pose
                return Di_exact() && Dn_exact();
            }
 
            bool Di_exact(){
                return Di_position && Di_angle && Di_shape;
            }
 
            bool Dn_exact(){
                return Dn_position && Dn_angle &&  Dn_shape;
            }
 
            bool Di_pose(){
                return Di_position &&  Di_angle;
            }
 
            bool Dn_pose(){
                return Dn_position && Dn_angle;
            }
 
            bool shape_Di(){
                return  Di_shape;
            }
 
            bool shape_Dn(){
                return Dn_shape;
            }
            bool Dn(){
                return Dn_shape && Dn_pose();
            }
 
            bool Di(){
                return Di_shape && Di_pose();
            }
 
            StateMatch() =default;
 
            StateMatch(const StateDifference& sd, Threshold threshold, float coefficient=1){
                position = sd.pose.p.Length()<(threshold.for_robot_position()*coefficient);
                angle=fabs(sd.pose.q.GetAngle())<threshold.for_robot_angle();
                Bundle Dn=threshold.for_Dn(), Di=threshold.for_Di();
                Dn_position= sd.Dn.pose.p.Length()<(Dn.radius()*coefficient);
                Di_position= sd.Di.pose.p.Length()<(Di.radius()*coefficient);
                Dn_angle=fabs(sd.Dn.pose.q.GetAngle())<Dn.get_angle();
                Di_angle=fabs(sd.Di.pose.q.GetAngle())<Di.get_angle();
                bool Dn_below_threshold_w=fabs(sd.Dn.width())<(Dn.get_width()*coefficient*2);
                bool Dn_below_threshold_l=fabs(sd.Dn.length())<(Dn.get_length()*coefficient*2);
                bool Di_below_threshold_w=fabs(sd.Di.width())<(Dn.get_width()*coefficient*2);
                bool Di_below_threshold_l=fabs(sd.Di.length())<(Dn.get_length()*coefficient*2);
                Dn_shape= Dn_below_threshold_l && Dn_below_threshold_w;
                Di_shape= Di_below_threshold_l && Di_below_threshold_w;
 
            }
 
            StateMatcher::MATCH_TYPE what(){
                if (exact()){ //match position and disturbance
                    return _TRUE;
                }
                else if (abstract()){
                    return ABSTRACT;
                }
                else if (Dn_exact()){
                    return D_NEW;
                }
                else if (Di_exact()){
                    return D_INIT;
                }               
                else if (Dn_pose()){
                    return DN_POSE;
                }
                else if (Di_pose()){
                    return DI_POSE;
                }               
                else if (shape_Dn()){
                    return DN_SHAPE;
                }
                else if (shape_Di()){
                    return DI_SHAPE;
                }
                else{
                    return _FALSE;
                }
            }
 
            private:
 
            bool position=false;
            bool angle=false;
            bool Di_position=false;
            bool Di_angle=false;
            bool Di_shape=false;
            bool Dn_position=false;
            bool Dn_angle=false;
            bool Dn_shape=false;
        };
 
        bool match_equal(const MATCH_TYPE& candidate, const MATCH_TYPE& desired);
 
        MATCH_TYPE isMatch(const StateDifference &, const Threshold &, float endDistance=0); //endDistance=endpose
 
        MATCH_TYPE isMatch(const State & s, const State& candidate, const  Threshold &, const State* src=NULL, StateDifference * _sd=NULL); //first state: state to find a match for, second state: candidate match
 
        //std::pair<MATCH_TYPE, vertexDescriptor> match_vertex(TransitionSystem, vertexDescriptor, Direction, State, StateMatcher::MATCH_TYPE mt=StateMatcher::_TRUE); //find match amoung vertex out edges
 
        float get_coefficient(const float &);
    private:
 
 
    const float COEFFICIENT_INCREASE_THRESHOLD=0.0;
};
 
typedef std::pair<StateMatcher::MATCH_TYPE, vertexDescriptor> VertexMatch;
 
#endif