msh2AlgDirPDTreevonMises.h

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#ifndef _msh2AlgDirPDTreevonMises_h
#define _msh2AlgDirPDTreevonMises_h
 
#include <cisstMesh/msh2AlgDirPDTree.h>
#include <cisstMesh/msh2DirPDTreeBase.h>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh2AlgDirPDTreevonMises : public msh2AlgDirPDTree
{
    //
    // Implements the isotropic oriented point algorithm for 2D PD tree search
    //   using the isotropic vonMises and isotropic Gaussian distributions
    //
 
 public:
 
    // Noise Parameters
    double k;       // concentration of orientation
    double sigma2;  // variance of position
 
    double dThetaMax;               // maximum orientation error permitted for a match
    bool   bPermittedMatchFound;    // true if a permitted match found (i.e. w/in dThetaMax)
    //  this is used to search all matches until a permitted match is found
    //  if no permitted match is found, then the best match from the
    //  set of non-permitted matches is returned
    //bool  bPermittedMatchOverride;  // override to return errors of non-permitted matches
 
 protected:
 
    // constructor
    msh2AlgDirPDTreevonMises(
                             msh2DirPDTreeBase *pDirTree,
                             double k = 1.0, double sigma2 = 1.0, double thetaMax = cmnPI)
        : msh2AlgDirPDTree(pDirTree),
        k(k), sigma2(sigma2), dThetaMax(thetaMax), bPermittedMatchFound(false)
        {}
 
    // destructor
    virtual ~msh2AlgDirPDTreevonMises() {}

    //int FastInitializeProximalDatum(
    //  const vct2 &v, const vct2 &n,
    //  vct2 &proxPoint, vct2 &proxNorm);
 
 
    //--- PD Tree Interface Methods ---//
 
    // fast check if a node might contain a datum having smaller match error
    //  than the error bound
    virtual int NodeMightBeCloser(const vct2 &sample, const vct2 &sampleNorm,
                                  msh2DirPDTreeNode const *node,
                                  double ErrorBound);
 
    // fast check if a datum might have smaller match error than error bound
    virtual int DatumMightBeCloser(const vct2 &sample, const vct2 &sampleNorm,
                                   int datum,
                                   double ErrorBound) = 0;
 
    // finds the point on this datum with lowest match error
    //  and returns the match error and closest point
    virtual double FindClosestPointOnDatum(const vct2 &sample, const vct2 &sampleNorm,
                                           vct2 &closest, vct2 &closestNorm,
                                           int datum) = 0;
};
 
#endif