DistanceLUT.h

Go to the documentation of this file.

/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_DISTANCELUT_H_
#define _MIRA_DISTANCELUT_H_

#ifndef Q_MOC_RUN
#include <boost/thread/mutex.hpp>
#endif

#include <utils/Singleton.h>
#include <geometry/Point.h>
#include <geometry/Rect.h>

namespace mira {



class MIRA_BASE_EXPORT DistanceLUT : public LazySingleton<DistanceLUT>
{
public:
    DistanceLUT();

    ~DistanceLUT();

public:
    struct CellDist {
        float minDist, maxDist;
    };

    typedef const CellDist* iterator; 

#if BOOST_VERSION < 105300
    // If the shared_ptr type is not an array it calls delete instead of delete[] => memory leak
    typedef boost::shared_ptr<CellDist> CellDistArrayPtr;
#else
    typedef boost::shared_ptr<CellDist[]> CellDistArrayPtr;
#endif

    class Region
    {
    protected:
        friend class DistanceLUT;

        Region(CellDistArrayPtr array, CellDist* data, int stride, const Rect2i& region) :
            mArrayPtr(array), mData(data), mStride(stride), mRegion(region) {}

    public:

        const Rect2i& getRect() const { return mRegion; }

        int getXmin() const { return mRegion.minCorner.x(); }

        int getXmax() const { return mRegion.maxCorner.x(); }

        int getYmin() const { return mRegion.minCorner.y(); }

        int getYmax() const { return mRegion.maxCorner.y(); }

        int getWidth() const { return mRegion.width(); }

        int getHeight() const { return mRegion.height(); }

    public:

        iterator getIterator(int x, int y) const {
            return mData + y*mStride + x;
        }

        iterator begin(int y) const {
            return mData + y*mStride + getXmin();
        }

        iterator end(int y) const {
            return mData + y*mStride + getXmax()+1;
        }

    private:
        CellDistArrayPtr mArrayPtr;
        CellDist* mData;
        int mStride;
        const Rect2i mRegion;
    };

    void ensureRegion(const Rect2i& region);

    Region getRegion(const Point2f& d, const Rect2i& region);

private:

    void createLUT(int width, int subdivisions);

    void freeLUT();

    void computeLUT(int width, int subdivisions);

private:
    int mWidth;
    int mSubdivisions;
    int mLayers;
    int mSize;
    std::vector<CellDistArrayPtr> mLUT;

    boost::mutex mMutex;
};

}

#endif