void
arrangement::compute_convolutionLabels()
{
// initialize variables
int compteur_wall = 0;
int compteur_arc = 0;
std::vector<std::string > labels;
for (int i = 0; i < (int) env_points.size(); ++i)
labels.push_back("none");
double r = manipulator_diametre/2;
// compute labels for robot convolution
for (int i = 0; i < (int) convolutions.size(); ++i)
{
for (Arrangement_2::Edge_iterator edge = convolutions[i].edges_begin(); edge != convolutions[i].edges_end(); ++edge)
{
if (edge->curve().orientation() == CGAL::COLLINEAR) // if it is a segment
{
edge->set_data("w"+std::to_string(compteur_wall));
edge->twin()->set_data("w"+std::to_string(compteur_wall++));
}
else // if it is an arc
{
std::string l = getLabel(labels, edge->curve(), compteur_arc, r);
edge->set_data(l);
edge->twin()->set_data(l);
}
}
}
// compute labels for object convolution (usefull just to clean critical curves 2)
compteur_wall = 0;
compteur_arc = 0;
labels.clear();
for (int i = 0; i < (int) env_points.size(); ++i)
labels.push_back("none");
r = target_diametre/2;
for (int i = 0; i < (int) convolutions_o.size(); ++i)
{
for (Arrangement_2::Edge_iterator edge = convolutions_o[i].edges_begin(); edge != convolutions_o[i].edges_end(); ++edge)
{
if (edge->curve().orientation() == CGAL::COLLINEAR) // if it is a segment
{
edge->set_data("w"+std::to_string(compteur_wall));
edge->twin()->set_data("w"+std::to_string(compteur_wall++));
}
else // if it is an arc
{
std::string l = getLabel(labels, edge->curve(), compteur_arc, r);
edge->set_data(l);
edge->twin()->set_data(l);
}
}
}
}
void
arrangement::keep_arc(Arrangement_2::Edge_iterator &e, Arrangement_2 ©, Walk_pl &walk_pl)
{
e->set_data("none");
Conic_point_2 p;
// if it is a segment
if (e->curve().orientation() == CGAL::COLLINEAR)
{
Conic_point_2 source = e->curve().source();
Conic_point_2 target = e->curve().target();
double x = CGAL::to_double((target.x() + source.x()) /2);
double y = CGAL::to_double((target.y() + source.y()) /2);
Rational x_(x);
Rational y_(y);
p = Conic_point_2(x_,y_);
}
else // if it is an arc
{
int n = 2;
approximated_point_2* points = new approximated_point_2[n + 1];
e->curve().polyline_approximation(n, points); // there is 3 points
p = Conic_point_2(Rational(points[1].first),Rational(points[1].second));
}
Arrangement_2::Vertex_handle v = insert_point(copy, p, walk_pl);
try
{
if (v->face()->data() != 1)
nonCriticalRegions.remove_edge(e, false, false);
copy.remove_isolated_vertex(v);
}
catch (const std::exception exn) {}
}
void
arrangement::compute_ACScell()
{
/*
for (int i = 0; i < (int)convolutions.size(); ++i)
for (Arrangement_2::Edge_iterator edge = convolutions[i].edges_begin(); edge != convolutions[i].edges_end(); ++edge)
{
convolution_r_all = Arrangement_2(convolutions[i]);
insert(convolution_r_all, edge->curve());
Arrangement_2::Edge_iterator e = convolution_r_all.edges_end();
e->set_data(edge->data());
}
*/
/*
std::cout << "edge label convo : ";
for (Arrangement_2::Edge_iterator edge = convolution_r_all.edges_begin(); edge != convolution_r_all.edges_end(); ++edge)
std::cout << edge->data() << " ";
std::cout << std::endl;
*/
for (int i = 0; i < (int)point_in_faces.size(); ++i)
{
// do a copy
Arrangement_2 copy(convolutions[0]);
Observer observer(copy);
// add a circle
Rat_point_2 center(point_in_faces[i][0], point_in_faces[i][1]);
Rat_circle_2 circle(center, r1r2 * r1r2);
Conic_curve_2 conic_arc(circle);
insert(copy, conic_arc);
// then add rho label for arc
for (Arrangement_2::Edge_iterator edge = copy.edges_begin(); edge != copy.edges_end(); ++edge)
{
if (edge->data().compare("") == 0)
{
edge->set_data("rho_");
edge->twin()->set_data("rho_");
}
}
Walk_pl walk_pl(copy);
std::vector<std::vector<double> > points;
compute_pointInCells(copy, points);
for (int j = 0; j < (int)points.size(); ++j)
{
double _x = point_in_faces[i][0] - points[j][0];
double _y = point_in_faces[i][1] - points[j][1];
if (r1r2 < sqrt(_x * _x + _y * _y))
{
Rational x_(points[j][0]);
Rational y_(points[j][1]);
Conic_point_2 p(x_,y_);
Arrangement_2::Vertex_handle v = insert_point(copy, p, walk_pl);
try
{
ACScell cell(i);
Arrangement_2::Ccb_halfedge_circulator first_outer_ccb = v->face()->outer_ccb();
Arrangement_2::Ccb_halfedge_circulator outer_ccb = v->face()->outer_ccb();
do
{
// for retrieving ACScell Begin and End
insert(cell.arr, outer_ccb->curve());
// then continue
cell.addLabel(outer_ccb->data());
++outer_ccb;
} while (outer_ccb != first_outer_ccb);
ACScells.push_back(cell);
}
catch (const std::exception exn) {}
}
}
}
// clean ACScells
for (int i = 0; i < (int)ACScells.size(); ++i)
ACScells[i].cleanLabels();
// compute ACScells id
int cpt = 0;
int previous = 0;
for (int i = 0; i < (int)ACScells.size(); ++i)
{
if (previous != ACScells[i].NCR)
{
cpt = 0;
previous = ACScells[i].NCR;
}
ACScells[i].id = std::to_string(ACScells[i].NCR) + "." + std::to_string(cpt);
++cpt;
}
}