CDynamicGrid.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/core/round.h>
#include <vector>
#include <string>
#include <cmath>
#include <cstddef>

namespace mrpt
{
namespace containers
{
namespace internal
{
// Aux class.
struct dynamic_grid_txt_saver
{
    bool saveToTextFile(const std::string& fileName) const;
    virtual unsigned int getSizeX() const = 0;
    virtual unsigned int getSizeY() const = 0;
    virtual float getCellAsFloat(unsigned int cx, unsigned int cy) const = 0;
};
}  // internal

/** A 2D grid of dynamic size which stores any kind of data at each cell.
    * \tparam T The type of each cell in the 2D grid.
    * \ingroup mrpt_containers_grp
    */
template <class T>
class CDynamicGrid
{
   protected:
    /** The cells  */
    std::vector<T> m_map;
    /** Used only from logically const method that really need to modify the
     * object */
    inline std::vector<T>& m_map_castaway_const() const
    {
        return const_cast<std::vector<T>&>(m_map);
    }

    double m_x_min, m_x_max, m_y_min, m_y_max, m_resolution;
    size_t m_size_x, m_size_y;

   public:
    /** Constructor */
    CDynamicGrid(
        double x_min = -10.0, double x_max = 10.0, double y_min = -10.0f,
        double y_max = 10.0f, double resolution = 0.10f)
        : m_map(),
          m_x_min(),
          m_x_max(),
          m_y_min(),
          m_y_max(),
          m_resolution(),
          m_size_x(),
          m_size_y()
    {
        setSize(x_min, x_max, y_min, y_max, resolution);
    }

    /** Destructor */
    virtual ~CDynamicGrid() {}
    /** Changes the size of the grid, ERASING all previous contents.
      * If \a fill_value is left as nullptr, the contents of cells may be
     * undefined (some will remain with
      *  their old values, the new ones will have the default cell value, but
     * the location of old values
      *  may change wrt their old places).
      * If \a fill_value is not nullptr, it is assured that all cells will have
     * a copy of that value after resizing.
      * \sa resize, fill
      */
    void setSize(
        const double x_min, const double x_max, const double y_min,
        const double y_max, const double resolution,
        const T* fill_value = nullptr)
    {
        // Adjust sizes to adapt them to full sized cells acording to the
        // resolution:
        m_x_min = resolution * round(x_min / resolution);
        m_y_min = resolution * round(y_min / resolution);
        m_x_max = resolution * round(x_max / resolution);
        m_y_max = resolution * round(y_max / resolution);

        // Res:
        m_resolution = resolution;

        // Now the number of cells should be integers:
        m_size_x = round((m_x_max - m_x_min) / m_resolution);
        m_size_y = round((m_y_max - m_y_min) / m_resolution);

        // Cells memory:
        if (fill_value)
            m_map.assign(m_size_x * m_size_y, *fill_value);
        else
            m_map.resize(m_size_x * m_size_y);
    }

    /** Erase the contents of all the cells. */
    void clear()
    {
        m_map.clear();
        m_map.resize(m_size_x * m_size_y);
    }

    /** Fills all the cells with the same value
        */
    inline void fill(const T& value)
    {
        for (typename std::vector<T>::iterator it = m_map.begin();
             it != m_map.end(); ++it)
            *it = value;
    }

    /** Changes the size of the grid, maintaining previous contents.
        * \sa setSize
        */
    virtual void resize(
        double new_x_min, double new_x_max, double new_y_min, double new_y_max,
        const T& defaultValueNewCells, double additionalMarginMeters = 2.0)
    {
        // Is resize really necesary?
        if (new_x_min >= m_x_min && new_y_min >= m_y_min &&
            new_x_max <= m_x_max && new_y_max <= m_y_max)
            return;

        if (new_x_min > m_x_min) new_x_min = m_x_min;
        if (new_x_max < m_x_max) new_x_max = m_x_max;
        if (new_y_min > m_y_min) new_y_min = m_y_min;
        if (new_y_max < m_y_max) new_y_max = m_y_max;

        // Additional margin:
        if (additionalMarginMeters > 0)
        {
            if (new_x_min < m_x_min)
                new_x_min = floor(new_x_min - additionalMarginMeters);
            if (new_x_max > m_x_max)
                new_x_max = ceil(new_x_max + additionalMarginMeters);
            if (new_y_min < m_y_min)
                new_y_min = floor(new_y_min - additionalMarginMeters);
            if (new_y_max > m_y_max)
                new_y_max = ceil(new_y_max + additionalMarginMeters);
        }

        // Adjust sizes to adapt them to full sized cells acording to the
        // resolution:
        if (fabs(new_x_min / m_resolution - round(new_x_min / m_resolution)) >
            0.05f)
            new_x_min = m_resolution * round(new_x_min / m_resolution);
        if (fabs(new_y_min / m_resolution - round(new_y_min / m_resolution)) >
            0.05f)
            new_y_min = m_resolution * round(new_y_min / m_resolution);
        if (fabs(new_x_max / m_resolution - round(new_x_max / m_resolution)) >
            0.05f)
            new_x_max = m_resolution * round(new_x_max / m_resolution);
        if (fabs(new_y_max / m_resolution - round(new_y_max / m_resolution)) >
            0.05f)
            new_y_max = m_resolution * round(new_y_max / m_resolution);

        // Change the map size: Extensions at each side:
        unsigned int extra_x_izq = round((m_x_min - new_x_min) / m_resolution);
        unsigned int extra_y_arr = round((m_y_min - new_y_min) / m_resolution);

        unsigned int new_size_x = round((new_x_max - new_x_min) / m_resolution);
        unsigned int new_size_y = round((new_y_max - new_y_min) / m_resolution);

        // Reserve new memory:
        typename std::vector<T> new_map;
        new_map.resize(new_size_x * new_size_y, defaultValueNewCells);

        // Copy previous rows:
        unsigned int x, y;
        typename std::vector<T>::iterator itSrc, itDst;
        for (y = 0; y < m_size_y; y++)
        {
            for (x = 0, itSrc = (m_map.begin() + y * m_size_x),
                itDst =
                     (new_map.begin() + extra_x_izq +
                      (y + extra_y_arr) * new_size_x);
                 x < m_size_x; ++x, ++itSrc, ++itDst)
            {
                *itDst = *itSrc;
            }
        }

        // Update the new map limits:
        m_x_min = new_x_min;
        m_x_max = new_x_max;
        m_y_min = new_y_min;
        m_y_max = new_y_max;

        m_size_x = new_size_x;
        m_size_y = new_size_y;

        // Keep the new map only:
        m_map.swap(new_map);
    }

    /** Returns a pointer to the contents of a cell given by its coordinates, or
     * nullptr if it is out of the map extensions.
        */
    inline T* cellByPos(double x, double y)
    {
        const int cx = x2idx(x);
        const int cy = y2idx(y);
        if (cx < 0 || cx >= static_cast<int>(m_size_x)) return nullptr;
        if (cy < 0 || cy >= static_cast<int>(m_size_y)) return nullptr;
        return &m_map[cx + cy * m_size_x];
    }
    /** \overload */
    inline const T* cellByPos(double x, double y) const
    {
        const int cx = x2idx(x);
        const int cy = y2idx(y);
        if (cx < 0 || cx >= static_cast<int>(m_size_x)) return nullptr;
        if (cy < 0 || cy >= static_cast<int>(m_size_y)) return nullptr;
        return &m_map[cx + cy * m_size_x];
    }

    /** Returns a pointer to the contents of a cell given by its cell indexes,
     * or nullptr if it is out of the map extensions.
        */
    inline T* cellByIndex(unsigned int cx, unsigned int cy)
    {
        if (cx >= m_size_x || cy >= m_size_y)
            return nullptr;
        else
            return &m_map[cx + cy * m_size_x];
    }

    /** Returns a pointer to the contents of a cell given by its cell indexes,
     * or nullptr if it is out of the map extensions.
        */
    inline const T* cellByIndex(unsigned int cx, unsigned int cy) const
    {
        if (cx >= m_size_x || cy >= m_size_y)
            return nullptr;
        else
            return &m_map[cx + cy * m_size_x];
    }

    /** Returns the horizontal size of grid map in cells count */
    inline size_t getSizeX() const { return m_size_x; }
    /** Returns the vertical size of grid map in cells count */
    inline size_t getSizeY() const { return m_size_y; }
    /** Returns the "x" coordinate of left side of grid map */
    inline double getXMin() const { return m_x_min; }
    /** Returns the "x" coordinate of right side of grid map */
    inline double getXMax() const { return m_x_max; }
    /** Returns the "y" coordinate of top side of grid map */
    inline double getYMin() const { return m_y_min; }
    /** Returns the "y" coordinate of bottom side of grid map */
    inline double getYMax() const { return m_y_max; }
    /** Returns the resolution of the grid map */
    inline double getResolution() const { return m_resolution; }
    /** Transform a coordinate values into cell indexes */
    inline int x2idx(double x) const
    {
        return static_cast<int>((x - m_x_min) / m_resolution);
    }
    inline int y2idx(double y) const
    {
        return static_cast<int>((y - m_y_min) / m_resolution);
    }
    inline int xy2idx(double x, double y) const
    {
        return x2idx(x) + y2idx(y) * m_size_x;
    }

    /** Transform a global (linear) cell index value into its corresponding
     * (x,y) cell indexes. */
    inline void idx2cxcy(const int& idx, int& cx, int& cy) const
    {
        cx = idx % m_size_x;
        cy = idx / m_size_x;
    }

    /** Transform a cell index into a coordinate value of the cell central point
     */
    inline double idx2x(int cx) const
    {
        return m_x_min + (cx + 0.5) * m_resolution;
    }
    inline double idx2y(int cy) const
    {
        return m_y_min + (cy + 0.5) * m_resolution;
    }

    /** Get the entire grid as a matrix.
        *  \tparam MAT The type of the matrix, typically a
     * mrpt::math::CMatrixDouble.
        *  \param[out] m The output matrix; will be set automatically to the
     * correct size.
        *  Entry (cy,cx) in the matrix contains the grid cell with indices
     * (cx,cy).
        * \note This method will compile only for cell types that can be
     * converted to the type of the matrix elements (e.g. double).
        */
    template <class MAT>
    void getAsMatrix(MAT& m) const
    {
        m.setSize(m_size_y, m_size_x);
        if (m_map.empty()) return;
        const T* c = &m_map[0];
        for (size_t cy = 0; cy < m_size_y; cy++)
            for (size_t cx = 0; cx < m_size_x; cx++) m.set_unsafe(cy, cx, *c++);
    }

    /** The user must implement this in order to provide "saveToTextFile" a way
     * to convert each cell into a numeric value */
    virtual float cell2float(const T&) const { return 0; }
    /** Saves a float representation of the grid (via "cell2float()") to a text
     * file. \return false on error */
    bool saveToTextFile(const std::string& fileName) const
    {
        struct aux_saver : public internal::dynamic_grid_txt_saver
        {
            aux_saver(const CDynamicGrid<T>& obj) : m_obj(obj) {}
            virtual unsigned int getSizeX() const { return m_obj.getSizeX(); }
            virtual unsigned int getSizeY() const { return m_obj.getSizeY(); }
            virtual float getCellAsFloat(unsigned int cx, unsigned int cy) const
            {
                return m_obj.cell2float(
                    m_obj.m_map[cx + cy * m_obj.getSizeX()]);
            }
            const CDynamicGrid<T>& m_obj;
        };
        aux_saver aux(*this);
        return aux.saveToTextFile(fileName);
    }

   protected:
    template <class STREAM>
    void dyngridcommon_writeToStream(STREAM& out) const
    {
        out << m_x_min << m_x_max << m_y_min << m_y_max;
        out << m_resolution;
        out << static_cast<uint32_t>(m_size_x)
            << static_cast<uint32_t>(m_size_y);
    }
    template <class STREAM>
    void dyngridcommon_readFromStream(STREAM& in, bool cast_from_float = false)
    {
        if (!cast_from_float)
        {
            in >> m_x_min >> m_x_max >> m_y_min >> m_y_max;
            in >> m_resolution;
        }
        else
        {
            float xmin, xmax, ymin, ymax, res;
            in >> xmin >> xmax >> ymin >> ymax >> res;
            m_x_min = xmin;
            m_x_max = xmax;
            m_y_min = ymin;
            m_y_max = ymax;
            m_resolution = res;
        }
        uint32_t nX, nY;
        in >> nX >> nY;
        m_size_x = nX;
        m_size_y = nY;
        m_map.resize(nX * nY);
    }

};  // end of CDynamicGrid<>

}  // End of namespace
}  // end of namespace