msh3DirPDTreeNode.h

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/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
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//    Copyright (c) 2014, Seth Billings, Russell Taylor, Johns Hopkins University
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#ifndef _msh3DirPDTreeNode_h
#define _msh3DirPDTreeNode_h
 
#include <stdio.h>
#include <assert.h>
 
#include <cisstVector/vctFixedSizeVectorTypes.h>
#include <cisstVector/vctTransformationTypes.h>
 
#include <cisstMesh/mshForwardDeclarations.h>
#include <cisstMesh/msh3BoundingBox.h>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3DirPDTreeNode
{
    //
    // This class implements a node of a directed PD tree;
    //  there are no derived versions of this class.
    //
 
    //--- Variables ---//
 
 public:
 
    msh3DirPDTreeBase*  pMyTree;
    msh3DirPDTreeNode*  pParent;
    msh3DirPDTreeNode   *pLEq, *pMore;  // child nodes
 
    int* pDataIndices;
    int NData;
    int myDepth;
 
    vctFrm3 F;                // transforms world -> local node coords
    msh3BoundingBox Bounds;  // bounding box for this node
 
    vct3    Navg;         // avg orientation of the datum in this node
    double  dThetaMax;    // max deviation (in radians) from the avg orientation
 
    //--- Methods ---//
 
 public:
 
    // constructor
    msh3DirPDTreeNode(int *pDataIndexArray, int numIndexes,
                      msh3DirPDTreeBase* pTree, msh3DirPDTreeNode* pParent);
 
    // debug constructor
    msh3DirPDTreeNode(double) :
        pMyTree(NULL),
        pParent(NULL),
        pLEq(NULL),
        pMore(NULL),
        pDataIndices(NULL),
        NData(0)
            {};
 
    // destructor
    ~msh3DirPDTreeNode();
 
    msh3DirPDTreeNode* GetChildSplitNode(const vct3 &datumPos);
 
    // Check if a datum in this node has a lower match error than the error bound
    //  If a lower match error is found, set the new closest point, update error
    //  bound, and return the global datum index of the closest datum.
    //  Otherwise, return -1.
    int FindClosestDatum(const vct3 &v, const vct3 &n,
                         vct3 &closestPoint, vct3 &closestPointNorm,
                         double &ErrorBound,
                         unsigned int &numNodesVisited,
                         unsigned int &numNodesSearched);
 
    int NumData() const { return NData; };
    int IsTerminalNode() const { return pLEq == NULL; };
 
    int SortNodeForSplit();
    vctFrm3 ComputeCovFrame(int i0, int i1);
    int ConstructSubtree(int CountThresh, double DiagThresh);
 
    void AccumulateCentroid(int datum, vct3 &sum) const;
    void AccumulateVariances(int datum, const vct3 &mean, vctDouble3x3 &C) const;
 
    // Return the global datum index of the ith datum in this node
    inline int Datum(int i) const
    {
        assert(i >= 0 && i < NData);
        return pDataIndices[i];
    };
 
    inline int& Datum(int i)
    {
        assert(i >= 0 && i < NData);
        return pDataIndices[i];
    };
 
 protected:
 
    // computes orientation parameters for this node and
    // returns the running sum of orientations in the node
    //   (return value is for speedup when computing parent node params)
    vct3 ComputeOrientationParams();
 
 public:
 
    // debug routines
    int FindTerminalNode(int datum, msh3DirPDTreeNode **termNode);
    void PrintTerminalNodes(std::ofstream &fs);
    inline bool NodeContainsDatum(int datum)
    {
        for (int i = 0; i < NData; i++)
            {
                if (datum == pDataIndices[i]) return true;
            }
        return false;
    }
 
    //void  RecomputeBoundingBoxesUsingExistingCovFrames();
    //void  ReSortUsingExistingCovFrames();
    //void  RecomputeCovFrames();
 
    //virtual void Print(FILE* chan, int indent);
 
};
 
#endif

//int FindClosestDatum( const vct3 &v, const vct3 &n,
//                       vct3 &closestPoint, vct3 &closestPointNorm,
//                       double posWeight, double normWeight,
//                       double &ErrorBound,
//                       unsigned int &numNodesVisited,
//                       unsigned int &numNodesSearched,
//                       double geomDistBound );