CHMHMapNode.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "hmtslam-precomp.h"  // Precomp header

#include <mrpt/random.h>

using namespace mrpt::slam;
using namespace mrpt::hmtslam;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CHMHMapNode, CSerializable, mrpt::hmtslam)

/*---------------------------------------------------------------
                        Default constructor
  ---------------------------------------------------------------*/
CHMHMapNode::CHMHMapNode(
    CHierarchicalMHMap* parent, const THypothesisIDSet& hyps)
    : m_hypotheses(hyps),
      m_arcs(),
      m_parent(parent),
      m_nodeType(NODE_TYPES, DEFAULT_NODE_TYPE),
      m_label("none")
{
    // Assure that ID is unique in the graph:
    // -----------------------------------------
    if (m_parent.get())
    {
        // Parent will be nullptr only in the default constructor for a
        // temporary
        //  initialization before loading the object from "readFromStream"
        m_ID = 0;
        do
        {
            m_ID++; /* =
                (((uint64_t)getRandomGenerator().drawUniform(0.0f,0xFFFF))
                << 32) |
                (((uint64_t)getRandomGenerator().drawUniform(0.0f,0xFFFF)) <<
                16) |
                (((uint64_t)getRandomGenerator().drawUniform(0.0f,0xFFFF)));*/
        } while (m_parent->getNodeByID(m_ID));
    }
}

/*---------------------------------------------------------------
                    Destructor
  ---------------------------------------------------------------*/
CHMHMapNode::~CHMHMapNode()
{
    // To the graph:
    if (m_parent.get()) m_parent->onNodeDestruction(this);

    // To the arcs:
    for (auto& m_arc : m_arcs) m_arc->onNodeDestruction(this);
}

uint8_t CHMHMapNode::serializeGetVersion() const { return 0; }
void CHMHMapNode::serializeTo(mrpt::serialization::CArchive& out) const
{
    out << m_ID << m_label;
    out << m_nodeType;
    out << m_annotations;
    out << m_hypotheses;
}

void CHMHMapNode::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> m_ID >> m_label >> m_nodeType >> m_annotations >>
                m_hypotheses;

            // It's not necessary since at ::Create this is already done
            // (but...check!)
            // if (m_parent.get())
            //  m_parent->onNodeAddition(this);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void CHMHMapNode::onArcDestruction(CHMHMapArc* arc)
{
    MRPT_START

    // Important note: We cannot create a temporary smart pointer here, since
    //  it will lead to an infinity recursion!  (BUGFIX, JLBC SEP-2009)

    // Check if arc is from/to this node:
    if (arc->m_nodeFrom == m_ID || arc->m_nodeTo == m_ID)
    {
        // Remove from the list:
        auto it = m_arcs.find_ptr_to(arc);
        if (it != m_arcs.end()) m_arcs.erase(it);
    }

    MRPT_END
}

/*---------------------------------------------------------------
                    onArcAddition
  ---------------------------------------------------------------*/
void CHMHMapNode::onArcAddition(const CHMHMapArc::Ptr& arc)
{
    MRPT_START

    // Check if arc is from/to this node:
    if (arc->m_nodeFrom == m_ID || arc->m_nodeTo == m_ID)
    {
        // Already in the list?
        auto it = m_arcs.find(arc);
        if (it == m_arcs.end()) m_arcs.push_back(arc);  // Add to the list:
    }

    MRPT_END
}
/*---------------------------------------------------------------
                    onArcAddition
  ---------------------------------------------------------------*/
CHMHMapNode::TNodeID CHMHMapNode::getID() const { return m_ID; }
/*---------------------------------------------------------------
                    getLevelInTheHierarchy
  ---------------------------------------------------------------*/
unsigned int CHMHMapNode::getLevelInTheHierarchy()
{
    TArcList::iterator itArc;
    unsigned int level = 0;

    for (itArc = m_arcs.begin(); itArc != m_arcs.end(); itArc++)
    {
        // I am a "level+1" from the level below if a "belongs" arc points to
        // me:
        if ((*itArc)->m_arcType == "Membership" &&
            (*itArc)->m_nodeTo == this->m_ID)
        {
            unsigned int L = m_parent->getNodeByID((*itArc)->m_nodeFrom)
                                 ->getLevelInTheHierarchy();
            level = max(L + 1, level);
        }
    }

    return level;
}

/*---------------------------------------------------------------
                    getRelatedArcsCount
  ---------------------------------------------------------------*/
unsigned int CHMHMapNode::getRelatedArcsCount()
{
    return (unsigned int)m_arcs.size();
}

/*---------------------------------------------------------------
                    getArcs
  ---------------------------------------------------------------*/
void CHMHMapNode::getArcs(TArcList& out, const THypothesisID& hyp_id) const
{
    out.clear();
    for (const auto& m_arc : m_arcs)
        if (m_arc->m_hypotheses.has(hyp_id)) out.push_back(m_arc);
}

/*---------------------------------------------------------------
                    getArcs
  ---------------------------------------------------------------*/
void CHMHMapNode::getArcs(
    TArcList& out, const char* arcType, const THypothesisID& hyp_id) const
{
    out.clear();
    for (const auto& a : m_arcs)
        if (a->m_hypotheses.has(hyp_id) && a->m_arcType == arcType)
            out.push_back(a);
}

/*---------------------------------------------------------------
                    isNeighbor
  ---------------------------------------------------------------*/
bool CHMHMapNode::isNeighbor(
    const TNodeID& otherArea, const THypothesisID& hyp_id) const
{
    for (const auto& m_arc : m_arcs)
        if (m_arc->m_hypotheses.has(hyp_id) &&
            (m_arc->m_nodeFrom == otherArea || m_arc->m_nodeTo == otherArea))
            return true;
    return false;  // Nope
}