From ac7602ee6cc676414f7badcd4d006361d1af1e0b Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Thu, 9 Feb 2023 15:49:28 +0000 Subject: [PATCH 01/15] Added OctoTree --- src/Simulators/CTD/Task.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index 26c26fafba..9c7d29cabe 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -30,6 +30,9 @@ // DUNE headers. #include +// local headers +#include "OctoTree.hpp" + using DUNE_NAMESPACES; namespace Simulators @@ -79,6 +82,8 @@ namespace Simulators Random::Generator* m_prng; //! Task arguments. Arguments m_args; + //! OctoTree + OctoTree* m_otree; Task(const std::string& name, Tasks::Context& ctx): Tasks::Periodic(name, ctx), @@ -118,7 +123,8 @@ namespace Simulators void onResourceInitialization(void) { - requestDeactivation(); + m_otree = new OctoTree(); + requestDeactivation();// ? } //! Acquire resources. Initializes the random number generator @@ -146,8 +152,8 @@ namespace Simulators setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_ACTIVE); requestActivation(); } - m_sstate = *msg; + m_otree->add(msg->x, msg->y, msg->z, msg->getId()); } //! If active, computes all values using random value generators and dispatches: From 106112dca4e985e3788e2644601528cac987dc5f Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Thu, 9 Feb 2023 15:49:49 +0000 Subject: [PATCH 02/15] Added OctoTree --- src/Simulators/CTD/OctoTree.cpp | 769 ++++++++++++++++++++++++++++++++ src/Simulators/CTD/OctoTree.hpp | 86 ++++ 2 files changed, 855 insertions(+) create mode 100644 src/Simulators/CTD/OctoTree.cpp create mode 100644 src/Simulators/CTD/OctoTree.hpp diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp new file mode 100644 index 0000000000..be3de96a97 --- /dev/null +++ b/src/Simulators/CTD/OctoTree.cpp @@ -0,0 +1,769 @@ +#include "OctoTree.hpp" + +#define Q1 0 // X > 0, Y > 0, Z > 0 +#define Q2 1 // X < 0, Y > 0, Z > 0 +#define Q3 2 // X < 0, Y < 0, Z > 0 +#define Q4 3 // X > 0, Y < 0, Z > 0 + +#define Q5 4 // X > 0, Y > 0, Z < 0 +#define Q6 5 // X < 0, Y > 0, Z < 0 +#define Q7 6 // X < 0, Y < 0, Z < 0 +#define Q8 7 // X > 0, Y < 0, Z < 0 + + + +/// @brief Create a new Item object with point (x,y,z) and a value +/// @param _x x coordinate +/// @param _y y coordinate +/// @param _z z coordinate +/// @param _v value to store +OctoTree::Item::Item(double _x, double _y, double _z, double _v) : + x(_x), y(_y), z(_z), value(_v) +{ + //std::cout << "Creating point at (\t" << _x << "\t," << _y << "\t," << _z << "\t):" << value << "\tin address: " << this << '\n'; +} + +OctoTree::Item::~Item() +{ + //std::cout << "\t deleting point at:(\t" << x << "\t," << y << "\t," << z << "\t):" << value << "\tin address: " << this << '\n'; +} + +/// @brief Create a new Bounds object with bounds at 0 +OctoTree::Bounds::Bounds() +{ + max_x = min_x = max_y = min_y = max_z = min_z = 0; +} + +/// @brief Create a new Bounds object with the same max and min limits +/// @param _x x max/min limits +/// @param _y y max/min limits +/// @param _z z max/min limits +OctoTree::Bounds::Bounds(double _x, double _y, double _z) : + max_x(_x), max_y(_y), max_z(_z), min_x(_x), min_y(_y), min_z(_z) +{ + +} + +/// @brief Create a new Bounds object +/// @param min_x min_x limit +/// @param Max_x max_x limit +/// @param min_y min_y limit +/// @param Max_y max_y limit +/// @param min_z min_z limit +/// @param Max_z max_z limit +/// @throw INVALID_BOUNDS if arguments are incorrect +OctoTree::Bounds::Bounds(double min_x, double Max_x, double min_y, double Max_y, double min_z, double Max_z) : + max_x(Max_x), max_y(Max_y), max_z(Max_z), min_x(min_x), min_y(min_y), min_z(min_z) +{ + if(Max_x < min_x || Max_y < min_y || Max_z < min_z) + throw INVALID_BOUNDS; +} + +/// @brief Return the bounds midpoint correspondent to the axis +/// @param axis {x , y , z} +/// @return -1 if axis is not valid +/// @return or bounds midpoint of axis +double OctoTree::Bounds::getMidpoint(char axis) +{ + if (axis == 'x') + return (max_x+min_x)/2; + + if (axis == 'y') + return (max_y+min_y)/2; + + if (axis == 'z') + return (max_z+min_z)/2; + + return -1; +} + + +/// @brief Creates a new Node object with variables null +OctoTree::Node::Node() +{ + myRoot = nullptr; + childs.assign(8,nullptr); + leaf = true; +} + + +/// @brief Creates a new Node object +/// @param parent parent node +/// @param x x coordinate of object OctoTree::Item +/// @param y y coordinate of object OctoTree::Item +/// @param z z coordinate of object OctoTree::Item +/// @param val value to store in object OctoTree::Item +OctoTree::Node::Node(Node* parent, double x, double y, double z, double val) +{ + myRoot = parent; + data = new Item(x, y, z, val); + childs.assign(8,nullptr); + lim = Bounds(x, y, z); + leaf = true; +} + + +/// @brief Creates a new Node object +/// @param parent parent node +/// @param _data Item object to store in this Node +/// @param oct Bounds object of this Node +OctoTree::Node::Node(Node* parent, Item *_data, Bounds oct) +{ + myRoot = parent; + data = _data; + childs.assign(8,nullptr); + lim = oct; + leaf = true; +} + + +OctoTree::Node::~Node() +{ + delete data; + for (int i = 0; i < 8; i++) + delete childs[i]; +} + + +/// @brief Creates a new root to insert new_data +/// @param child previus root of Octree +/// @param prev_data +/// @param new_data pointer to object Item to insert +/// @return new Node root with bounds expanded and new_data inserted as root data +/// @warning This may create nodes will data = nullptr if it expandes more than once +OctoTree::Node* OctoTree::new_root(Node* child, Item* prev_data, Item* new_data) +{ + Node* n_root = new Node(nullptr, nullptr, child->lim); + n_root->leaf = false; + + n_root->expandeBounds(*new_data); + + int pos = n_root->getOctante(*prev_data); + + n_root->childs[pos] = child; + child->myRoot = n_root; + + if(n_root->isOutBounds(*new_data)) + return new_root(n_root, prev_data, new_data); + n_root->data = new_data; + + return n_root; +} + + + +/// @brief Expandes node bounds in val direction +/// @param val Item object out of this node Bounds +void OctoTree::Node::expandeBounds(const Item& val) +{ + double length = lim.max_x-lim.min_x; + if (length == 0) + { + double dx = abs(val.x - lim.max_x); + double dy = abs(val.y - lim.max_y); + double dz = abs(val.z - lim.max_z); + + if (dx > dy) + { + if (dx > dz) length = dx; + else length = dz; + } + else + { + if (dy > dz) length = dy; + else length = dz; + } + } + + double mid_x, mid_y, mid_z; + + mid_x = (val.x > lim.max_x ? lim.max_x : lim.min_x); + mid_y = (val.y > lim.max_y ? lim.max_y : lim.min_y); + mid_z = (val.z > lim.max_z ? lim.max_z : lim.min_z); + + lim.max_x = mid_x + length; + lim.min_x = mid_x - length; + + lim.max_y = mid_y + length; + lim.min_y = mid_y - length; + + lim.max_z = mid_z + length; + lim.min_z = mid_z - length; +} + + +/// @brief Checks if item is outside Node limits (Bounds) +/// @param val Item object to test +/// @return True if item is outside Node bounds. Or false if inside +bool OctoTree::Node::isOutBounds(const Item& val) +{ + + if (lim.min_x > val.x || val.x > lim.max_x) + { + return true; + } + if (lim.min_y > val.y || val.y > lim.max_y) + { + return true; + } + if (lim.min_z > val.z || val.z > lim.max_z) + { + return true; + } + + return false; +} + + +/// @brief Insert object +/// @param val +/// @return dept at which the item was inserted +int OctoTree::Node::insert_data(Item *val) +{ + int pos = getOctante(*val); + + if (childs[pos] == nullptr) + { + leaf = false; + childs[pos] = new Node(this, val, getOctoBounds(pos)); + return 0; + } + else if (childs[pos]->data == nullptr) + { + childs[pos]->data = val; + return 0; + } + + return childs[pos]->insert_data(val)+1; +} + +/// @brief Compares the Item coordinates and returns the Octante that corresponds to the Item +/// @param val Item object to test +/// @warning Item must be inside Node bounds +int OctoTree::Node::getOctante(const Item& val) +{ + + if (isOutBounds(val)) + { + std::cout << "\n\nFailed Bounds:"; + std::cout << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; + std::cout << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; + std::cout << "\tz: (" << lim.min_z << " ; " << lim.max_z << ")\n"; + + std::cout << "Failed Point:\tx:" << val.x << "\t y: " << val.y << "\t z:" << val.z << "\tvalue:" << val.value << "\n"; + + throw INVALID_INSERT_POINT; + } + + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + if ( val.x > mp_x) + { + if (val.y > mp_y) + { + if (val.z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (val.z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (val.y > mp_y) + { + if (val.z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (val.z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + return -1;// never utilized +} + + +/// @brief Compares the coordinates and returns the Octante that corresponds to the point (x,y,z) +/// @param x x coordinate +/// @param y y coordinate +/// @param z z coordinate +/// @warning Item must be inside Node bounds +int OctoTree::Node::getOctante(double x, double y, double z) +{ + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + if ( x > mp_x) + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + return -1;// never utilized +} + + +/// @brief Returns the octante Bounds object correspondent the param oct +/// @param oct Octante value {0-7} +OctoTree::Bounds OctoTree::Node::getOctoBounds(int oct) +{ + Bounds res = lim; + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + + switch (oct) + { + case Q1: + res.min_x = mp_x; + res.min_y = mp_y; + res.min_z = mp_z; + break; + + case Q2: + res.min_y = mp_y; + res.min_z = mp_z; + + res.max_x = mp_x; + break; + + case Q3: + res.min_z = mp_z; + + res.max_x = mp_x; + res.max_y = mp_y; + break; + + case Q4: + res.min_x = mp_x; + res.min_z = mp_z; + + res.max_y = mp_y; + break; + + case Q5: + res.min_x = mp_x; + res.min_y = mp_y; + + res.max_z = mp_z; + break; + + case Q6: + res.min_y = mp_y; + + res.max_x = mp_x; + res.max_z = mp_z; + break; + + case Q7: + res.max_x = mp_x; + res.max_y = mp_y; + res.max_z = mp_z; + break; + + case Q8: + res.min_x = mp_x; + + res.max_y = mp_y; + res.max_z = mp_z; + break; + + default: + break; + } + + return res; +} + + +/// @brief Search the tree for the point (x,y,z) +/// @param x x coordinate +/// @param y y coordinate +/// @param z z coordinate +/// @return value stored in the point +/// @throw Throws INVALID_POINT if the point doesn't exist +double OctoTree::Node::search(double x, double y, double z) +{ + if (data->x == x && data->y && y == y && data->z == z) + return data->value; + + int pos = getOctante(x, y, z); + + if (childs[pos] == nullptr) + { + std::cout << "Search failed \n"; + throw INVAILD_POINT; + } + return childs[pos]->search(x, y, z); +} + +/// @brief Searches for points inside Bounds volume +/// @param vol Bounds object +/// @param points vector to store the points +/// @return number of iterations +int OctoTree::Node::search_vol(const Bounds &vol, std::vector &points) +{ + if (inside_vol(vol)) + return add_item(points); + + int res = 1; + if (item_inside(vol)) + { + points.push_back(data); + } + //comparação com octantes + int o_max = getOctante(vol.max_x, vol.max_y, vol.max_z); + int o_min = getOctante(vol.min_x, vol.min_y, vol.min_z); + + if (o_max == o_min) + { + return res + search_child(vol, points, o_max); + } + + double mpx = lim.getMidpoint('x'); + double mpy = lim.getMidpoint('y'); + double mpz = lim.getMidpoint('z'); + + if (vol.min_x > mpx) + { + if (vol.min_y > mpy) + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q5); + } + else if (vol.max_y < mpy) + { + res += search_child(vol, points, Q4); + res += search_child(vol, points, Q8); + } + else + { + if (vol.min_z > mpz) + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q4); + } + else if (vol.max_z < mpz) + { + res += search_child(vol, points, Q5); + res += search_child(vol, points, Q8); + } + else + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q4); + res += search_child(vol, points, Q5); + res += search_child(vol, points, Q8); + } + } + } + else + { + if (vol.max_x > mpx) + { + for (int i = Q1; i <= Q8; i++) + { + res += search_child(vol, points, i); + } + } + else + { + if (vol.min_y > mpx) + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q6); + } + else if (vol.max_y < mpy) + { + res += search_child(vol, points, Q3); + res += search_child(vol, points, Q7); + } + else + { + if (vol.min_z > mpz) + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q3); + } + else if (vol.max_z < mpz) + { + res += search_child(vol, points, Q6); + res += search_child(vol, points, Q7); + } + else + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q3); + res += search_child(vol, points, Q6); + res += search_child(vol, points, Q7); + } + } + } + } + + return res; +} + +/// @brief Search child Node if not nullptr +/// @param vol Bounds to search +/// @param points vector to store the points +/// @param oct Octante to search +/// @return 0 if child is nullptr +int OctoTree::Node::search_child(const Bounds &vol, std::vector &points, int oct) +{ + return (childs[oct] == nullptr ? 0 : childs[oct]->search_vol(vol, points) ); +} + +/// @brief Checks if this node item is inside Bounds +/// @param vol Bounds object +bool OctoTree::Node::item_inside(const Bounds &vol) +{ + if (data == nullptr) + return false; + + if (vol.min_x > data->x || data->x > vol.max_x) + return false; + if (vol.min_y > data->y || data->y > vol.max_y) + return false; + if (vol.min_z > data->z || data->z > vol.max_z) + return false; + + return true; +} + +/// @brief Checks if Node bounds is inside volumne +/// @param vol volume +bool OctoTree::Node::inside_vol(const Bounds &vol) +{ + if (vol.min_x > lim.min_x || vol.max_x < lim.max_x) + return false; + if (vol.min_y > lim.min_y || vol.max_y < lim.max_y) + return false; + if (vol.min_y > lim.min_z || vol.max_z < lim.max_z) + return false; + + return true; +} + +/// @brief Add all itens in this node bounds +/// @param points vector to store the points +/// @return number of iterations +int OctoTree::Node::add_item(std::vector &points) +{ + if (data!= nullptr) + points.push_back(data); + + int res = 1; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + res += childs[i]->add_item(points); + } + return res; +} + +/// @return Number of nodes +int OctoTree::Node::number_nodes() +{ + if (leaf) + return 1; + int res = 1; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + res += childs[i]->number_nodes(); + } + return res; +} + +/// @brief +/// @param val +/// @return +int OctoTree::Node::remove_dat(const Item& val) +{ + if (isOutBounds(val)) + return -1; + if (data != nullptr) + { + if (val.x == data->x && val.y == data->y && val.z == data->z && val.value == data->value) + { + delete data; + data = nullptr; + return 1; + } + } + + int pos = getOctante(val); + + if (childs[pos] != nullptr) + return childs[pos]->remove_dat(val); + + return 0; +} + +OctoTree::OctoTree() +{ + root = nullptr; +} + +OctoTree::OctoTree(double x, double y, double z, double val) +{ + root = new Node(nullptr, x, y, z, val); +} + +int OctoTree::add(double x, double y, double z, double v) +{ + if (root == nullptr) + { + root = new Node(nullptr, x, y, z, v); + return 1; + } + Item* point = new Item(x, y, z, v); + if(root->isOutBounds(*point)) + { + root = new_root(root, root->data, point); + return 1; + } + return root->insert_data(point)+1; +} + +OctoTree::~OctoTree() +{ + std::cout << "\n\n\tDELETING TREE\n\n"; + delete root; +} + +int OctoTree::remove_data(const Item& val) +{ + return root->remove_dat(val); +} + + +int OctoTree::search(const Bounds &vol, std::vector &points) +{ + return root->search_vol(vol, points); +} + +/// @brief +/// @return Number of nodes inside tree +int OctoTree::size() +{ + return root->number_nodes(); +} + +double OctoTree::search_data(double x, double y, double z) +{ + return root->search(x, y, z); +} + +void OctoTree::printTree() +{ + if (root != nullptr) + { + root->printNode(0); + } + else + std::cout << "Tree root is null\n"; + +} + +void OctoTree::Node::printNode(int deep) +{ + std::cout << "At deep(" << deep << ") leaf:" << leaf << "\n"; + std::cout << "my root is:" << myRoot << "\tmy address:" << this << "\n"; + if (data != nullptr) + std::cout << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; + else + std::cout << "Don't have Point\n"; + + std::cout << "Bounds:\t"; + std::cout << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; + std::cout << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; + std::cout << "\tz: (" << lim.min_z << " ; " << lim.max_z << ')'; + std::cout << "\n\n\n"; + if(leaf){ + return; + } + deep++; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + { + childs[i]->printNode(deep); + } + } +} + +void print_error(int e) +{ + + std::cerr << "Error encoutered id: " << e << '\n'; + + switch (e) + { + case INVALID_BOUNDS: + std::cerr << "INVALID_BOUNDS error" << '\n'; + break; + + case INVAILD_POINT: + std::cerr << "INVAILD_POINT error" << '\n'; + break; + + case INVALID_INSERT_POINT: + std::cerr << "INVALID_INSERT_POINT error" << '\n'; + break; + + default: + break; + } + + exit(EXIT_FAILURE); + +} diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp new file mode 100644 index 0000000000..3199617be4 --- /dev/null +++ b/src/Simulators/CTD/OctoTree.hpp @@ -0,0 +1,86 @@ +#ifndef OCTOTREE_HPP_INCLUDED_ +#define OCTOTREE_HPP_INCLUDED_ + +#include +#include + + +#define INVALID_BOUNDS 1 +#define INVAILD_POINT 2 +#define INVALID_INSERT_POINT 3 + + +class OctoTree +{ +public: + + struct Item + { + double x, y, z, value; + Item(){}; + Item(double _x, double _y, double _z, double _v); + ~Item(); + }; + + struct Bounds + { + double max_x, max_y, max_z; + double min_x, min_y, min_z; + + Bounds(); + Bounds(double _x, double _y, double _z); + Bounds(double min_x, double Max_x, double min_y, double Max_y, double min_z, double Max_z); + double getMidpoint(char axis); + }; + struct Node + { + bool leaf; + Node* myRoot; + std::vector childs; + Bounds lim; + Item* data; + Node(); + Node(Node* parent, double x, double y, double z, double val); + Node(Node* parent, Item* _data, Bounds oct); + ~Node(); + + void expandeBounds(const Item& val); + bool isOutBounds(const Item& val); + int insert_data(Item *val); + int getOctante(const Item& val); + int getOctante(double x, double y, double z); + Bounds getOctoBounds(int oct); + double search(double x, double y, double z); + int search_vol(const Bounds& vol, std::vector &points); + int search_child(const Bounds& vol, std::vector &points, int oct); + bool item_inside(const Bounds& vol); + bool inside_vol(const Bounds& vol); + int add_item(std::vector &points); + int number_nodes(); + int remove_dat(const Item& val); + //debug + void printNode(int deep); + }; + Node* new_root(Node* child, Item* prev_data, Item* new_data); + OctoTree(); + OctoTree(double x, double y, double z, double val); + ~OctoTree(); + int add(double x, double y, double z, double v); + double search_data(double x, double y, double z); + int search(const Bounds& vol, std::vector &points); + int size(); + + //to do + int remove_data(const Item& val); + + //debug + void printTree(); + +private: + Node *root; +}; + +void print_error(int e); + + +#endif // SIMULATORS_CTD_OCTOTREE_HPP_INCLUDED_ \ No newline at end of file From 5ec5622e75799a277e77a6b05110c71a6f4465d5 Mon Sep 17 00:00:00 2001 From: xBogas Date: Sun, 12 Feb 2023 22:47:15 +0000 Subject: [PATCH 03/15] Update OctoTree --- src/Simulators/CTD/OctoTree.cpp | 132 ++++++++++++++++++++++++++------ src/Simulators/CTD/OctoTree.hpp | 18 ++++- src/Simulators/CTD/Task.cpp | 15 +++- 3 files changed, 134 insertions(+), 31 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index be3de96a97..a97610c9e6 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -45,17 +45,17 @@ OctoTree::Bounds::Bounds(double _x, double _y, double _z) : } /// @brief Create a new Bounds object -/// @param min_x min_x limit -/// @param Max_x max_x limit -/// @param min_y min_y limit -/// @param Max_y max_y limit -/// @param min_z min_z limit -/// @param Max_z max_z limit +/// @param _min_x min_x limit +/// @param _max_x max_x limit +/// @param _min_y min_y limit +/// @param _max_y max_y limit +/// @param _min_z min_z limit +/// @param _max_z max_z limit /// @throw INVALID_BOUNDS if arguments are incorrect -OctoTree::Bounds::Bounds(double min_x, double Max_x, double min_y, double Max_y, double min_z, double Max_z) : - max_x(Max_x), max_y(Max_y), max_z(Max_z), min_x(min_x), min_y(min_y), min_z(min_z) +OctoTree::Bounds::Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z) : + max_x(_max_x), max_y(_max_y), max_z(_max_z), min_x(_min_x), min_y(_min_y), min_z(_min_z) { - if(Max_x < min_x || Max_y < min_y || Max_z < min_z) + if(_max_x < min_x || _max_y < min_y || _max_z < min_z) throw INVALID_BOUNDS; } @@ -63,7 +63,7 @@ OctoTree::Bounds::Bounds(double min_x, double Max_x, double min_y, double Max_y, /// @param axis {x , y , z} /// @return -1 if axis is not valid /// @return or bounds midpoint of axis -double OctoTree::Bounds::getMidpoint(char axis) +double OctoTree::Bounds::getMidpoint(char axis) const { if (axis == 'x') return (max_x+min_x)/2; @@ -131,20 +131,20 @@ OctoTree::Node::~Node() /// @param new_data pointer to object Item to insert /// @return new Node root with bounds expanded and new_data inserted as root data /// @warning This may create nodes will data = nullptr if it expandes more than once -OctoTree::Node* OctoTree::new_root(Node* child, Item* prev_data, Item* new_data) +OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* new_data) { Node* n_root = new Node(nullptr, nullptr, child->lim); n_root->leaf = false; n_root->expandeBounds(*new_data); - int pos = n_root->getOctante(*prev_data); + int pos = n_root->getOctante(prev_volume); n_root->childs[pos] = child; child->myRoot = n_root; if(n_root->isOutBounds(*new_data)) - return new_root(n_root, prev_data, new_data); + return new_root(n_root, prev_volume, new_data); n_root->data = new_data; return n_root; @@ -159,9 +159,9 @@ void OctoTree::Node::expandeBounds(const Item& val) double length = lim.max_x-lim.min_x; if (length == 0) { - double dx = abs(val.x - lim.max_x); - double dy = abs(val.y - lim.max_y); - double dz = abs(val.z - lim.max_z); + double dx = (val.x - lim.max_x > 0 ? val.x - lim.max_x : lim.max_x - val.x); + double dy = (val.y - lim.max_y > 0 ? val.y - lim.max_y : lim.max_y - val.y); + double dz = (val.z - lim.max_z > 0 ? val.z - lim.max_z : lim.max_z - val.z); if (dx > dy) { @@ -173,6 +173,7 @@ void OctoTree::Node::expandeBounds(const Item& val) if (dy > dz) length = dy; else length = dz; } + length += 0.5; // just a band aid doesn't completely fix the problem } double mid_x, mid_y, mid_z; @@ -193,7 +194,7 @@ void OctoTree::Node::expandeBounds(const Item& val) /// @brief Checks if item is outside Node limits (Bounds) -/// @param val Item object to test +/// @param val Item object to verify /// @return True if item is outside Node bounds. Or false if inside bool OctoTree::Node::isOutBounds(const Item& val) { @@ -237,8 +238,58 @@ int OctoTree::Node::insert_data(Item *val) return childs[pos]->insert_data(val)+1; } +int OctoTree::Node::getOctante(const Bounds &volume) +{ + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + double x, y, z; + x = volume.getMidpoint('x'); + y = volume.getMidpoint('y'); + z = volume.getMidpoint('z'); + + if (x > mp_x) + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + + return -1; +} + /// @brief Compares the Item coordinates and returns the Octante that corresponds to the Item -/// @param val Item object to test +/// @param val Item object to verify /// @warning Item must be inside Node bounds int OctoTree::Node::getOctante(const Item& val) { @@ -251,7 +302,6 @@ int OctoTree::Node::getOctante(const Item& val) std::cout << "\tz: (" << lim.min_z << " ; " << lim.max_z << ")\n"; std::cout << "Failed Point:\tx:" << val.x << "\t y: " << val.y << "\t z:" << val.z << "\tvalue:" << val.value << "\n"; - throw INVALID_INSERT_POINT; } @@ -314,14 +364,14 @@ int OctoTree::Node::getOctante(double x, double y, double z) { if (y > mp_y) { - if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ return Q1; else /*add to Q5 - X > 0, Y > 0, Z < 0 */ return Q5; } else { - if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ return Q4; else /*add to Q8 - X > 0, Y < 0, Z < 0 */ return Q8; @@ -331,14 +381,14 @@ int OctoTree::Node::getOctante(double x, double y, double z) { if (y > mp_y) { - if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ return Q2; else /*add to Q6 - X < 0, Y > 0, Z < 0 */ return Q6; } else { - if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ return Q3; else /*add to Q7 - X < 0, Y < 0, Z < 0 */ return Q7; @@ -668,7 +718,7 @@ int OctoTree::add(double x, double y, double z, double v) Item* point = new Item(x, y, z, v); if(root->isOutBounds(*point)) { - root = new_root(root, root->data, point); + root = new_root(root, root->lim, point); return 1; } return root->insert_data(point)+1; @@ -691,7 +741,7 @@ int OctoTree::search(const Bounds &vol, std::vector &points) return root->search_vol(vol, points); } -/// @brief + /// @return Number of nodes inside tree int OctoTree::size() { @@ -707,6 +757,7 @@ void OctoTree::printTree() { if (root != nullptr) { + std::cout << "Root not null\n"; root->printNode(0); } else @@ -714,6 +765,13 @@ void OctoTree::printTree() } + +bool OctoTree::testTree() +{ + return root->testNode(); +} + + void OctoTree::Node::printNode(int deep) { std::cout << "At deep(" << deep << ") leaf:" << leaf << "\n"; @@ -736,6 +794,7 @@ void OctoTree::Node::printNode(int deep) { if (childs[i] != nullptr) { + std::cout << "Child at Q" << i+1 << "\n"; childs[i]->printNode(deep); } } @@ -767,3 +826,26 @@ void print_error(int e) exit(EXIT_FAILURE); } + +bool OctoTree::Node::testNode() +{ + bool sta = false; + if (isOutBounds(*data)) + { + std::cout << "My item is outside my own Bounds\n"; + exit(1); + } + Bounds aux; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + { + aux = getOctoBounds(i); + if (aux.max_x != childs[i]->lim.max_x && aux.min_x != childs[i]->lim.min_x) + sta = true; + + } + } + + return !sta; +} \ No newline at end of file diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index 3199617be4..3880ac9430 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -4,6 +4,15 @@ #include #include +// ERROR WHEN EXPANDING BOUNDS +// Error expanding bounds when prev point is in midpoint of new bounds + +/** + * add(0, 0, 0) 1º Point + * add(0.5, 0.5, 0.5) + * add(-3, -3, -3) + * add(-7, -7, -7) +*/ #define INVALID_BOUNDS 1 #define INVAILD_POINT 2 @@ -29,8 +38,8 @@ class OctoTree Bounds(); Bounds(double _x, double _y, double _z); - Bounds(double min_x, double Max_x, double min_y, double Max_y, double min_z, double Max_z); - double getMidpoint(char axis); + Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z); + double getMidpoint(char axis) const; }; struct Node { @@ -47,6 +56,7 @@ class OctoTree void expandeBounds(const Item& val); bool isOutBounds(const Item& val); int insert_data(Item *val); + int getOctante(const Bounds& volume); int getOctante(const Item& val); int getOctante(double x, double y, double z); Bounds getOctoBounds(int oct); @@ -60,8 +70,9 @@ class OctoTree int remove_dat(const Item& val); //debug void printNode(int deep); + bool testNode(); }; - Node* new_root(Node* child, Item* prev_data, Item* new_data); + Node* new_root(Node* child, const Bounds& prev_volume, Item* new_data); OctoTree(); OctoTree(double x, double y, double z, double val); ~OctoTree(); @@ -75,6 +86,7 @@ class OctoTree //debug void printTree(); + bool testTree(); private: Node *root; diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index 9c7d29cabe..439425390c 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -124,7 +124,8 @@ namespace Simulators onResourceInitialization(void) { m_otree = new OctoTree(); - requestDeactivation();// ? + inf("Created ocTree"); + requestDeactivation(); } //! Acquire resources. Initializes the random number generator @@ -138,7 +139,8 @@ namespace Simulators //! Release resources. void onResourceRelease(void) - { + { + Memory::clear(m_otree); Memory::clear(m_prng); } @@ -153,7 +155,13 @@ namespace Simulators requestActivation(); } m_sstate = *msg; - m_otree->add(msg->x, msg->y, msg->z, msg->getId()); + m_otree->add(msg->x, msg->y, msg->z, m_otree->size()+1 ); + } + + void + onDeactivation(void) + { + m_otree->printTree(); } //! If active, computes all values using random value generators and dispatches: @@ -195,6 +203,7 @@ namespace Simulators dispatch(m_pressure, DF_KEEP_TIME); dispatch(m_salinity, DF_KEEP_TIME); dispatch(m_sspeed, DF_KEEP_TIME); + inf("Tree is: %d", m_otree->size()); } }; } From 6db5446adadd3336e04aaf04defb3b1083d79db4 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Mon, 13 Feb 2023 17:49:13 +0000 Subject: [PATCH 04/15] Update --- src/Simulators/CTD/OctoTree.cpp | 82 ++++++++++++++++++++++++--------- src/Simulators/CTD/OctoTree.hpp | 5 +- src/Simulators/CTD/Task.cpp | 14 +++--- 3 files changed, 70 insertions(+), 31 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index a97610c9e6..9230df5536 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -139,14 +139,29 @@ OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* n_root->expandeBounds(*new_data); int pos = n_root->getOctante(prev_volume); + + // when expanding if prev point is in the bounds of its node + // it may be insered in the "wrong" octante because this point will collide with new bounds mid point + // the default is to insert the midpoints in the lower volume Ex: Bounds of z:[-1, 1] and new point is z = 0 -> inserting in Q5-8 + int pos_data = n_root->getOctante(*child->data); + if (pos != pos_data) + { + n_root->insert_data(child->data); + child->data = nullptr; + } n_root->childs[pos] = child; child->myRoot = n_root; + + if(n_root->isOutBounds(*new_data)) return new_root(n_root, prev_volume, new_data); n_root->data = new_data; + if (child->lim.max_x == child->lim.min_x) + child->lim = n_root->getOctoBounds(pos); + return n_root; } @@ -237,7 +252,9 @@ int OctoTree::Node::insert_data(Item *val) return childs[pos]->insert_data(val)+1; } - +/// @brief Compares the Item coordinates and returns the Octante that corresponds to the Item +/// @param val Item object to verify +/// @warning Item must be inside Node bounds int OctoTree::Node::getOctante(const Bounds &volume) { double mp_x, mp_y, mp_z; @@ -291,6 +308,7 @@ int OctoTree::Node::getOctante(const Bounds &volume) /// @brief Compares the Item coordinates and returns the Octante that corresponds to the Item /// @param val Item object to verify /// @warning Item must be inside Node bounds +/// @exception INVALID_INSERT_POINT if Item is out of bounds int OctoTree::Node::getOctante(const Item& val) { @@ -481,7 +499,7 @@ OctoTree::Bounds OctoTree::Node::getOctoBounds(int oct) /// @throw Throws INVALID_POINT if the point doesn't exist double OctoTree::Node::search(double x, double y, double z) { - if (data->x == x && data->y && y == y && data->z == z) + if (data->x == x && data->y == y && data->z == z) return data->value; int pos = getOctante(x, y, z); @@ -489,6 +507,7 @@ double OctoTree::Node::search(double x, double y, double z) if (childs[pos] == nullptr) { std::cout << "Search failed \n"; + std::cout << "Point:" << x << " " << y << " " << z << "\n"; throw INVAILD_POINT; } return childs[pos]->search(x, y, z); @@ -719,7 +738,7 @@ int OctoTree::add(double x, double y, double z, double v) if(root->isOutBounds(*point)) { root = new_root(root, root->lim, point); - return 1; + return 0; } return root->insert_data(point)+1; } @@ -745,6 +764,9 @@ int OctoTree::search(const Bounds &vol, std::vector &points) /// @return Number of nodes inside tree int OctoTree::size() { + if (root == nullptr) + return 0; + return root->number_nodes(); } @@ -755,37 +777,49 @@ double OctoTree::search_data(double x, double y, double z) void OctoTree::printTree() { + std::ofstream logFile; + logFile.open("OctoTree_log.txt"); if (root != nullptr) - { - std::cout << "Root not null\n"; - root->printNode(0); - } + root->printNode(0, logFile); else - std::cout << "Tree root is null\n"; + logFile << "Tree root is null\n"; + logFile << "\nTree has " << size() << " Nodes\n"; + logFile.close(); } bool OctoTree::testTree() { + std::vector points; + root->add_item(points); + + std::ofstream testFile; + testFile.open("OctoTree_teste.txt"); + for (long unsigned int i = 0; i < points.size(); i++) + { + testFile << "Point" << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->value << "\n"; + search_data(points[i]->x, points[i]->y, points[i]->z); + } + testFile.close(); return root->testNode(); } -void OctoTree::Node::printNode(int deep) +void OctoTree::Node::printNode(int deep, std::ostream& file) { - std::cout << "At deep(" << deep << ") leaf:" << leaf << "\n"; - std::cout << "my root is:" << myRoot << "\tmy address:" << this << "\n"; + file << "At deep(" << deep << ") leaf:" << leaf << "\n"; + file << "my root is:" << myRoot << "\tmy address:" << this << "\n"; if (data != nullptr) - std::cout << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; + file << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; else - std::cout << "Don't have Point\n"; + file << "Don't have Point\n"; - std::cout << "Bounds:\t"; - std::cout << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; - std::cout << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; - std::cout << "\tz: (" << lim.min_z << " ; " << lim.max_z << ')'; - std::cout << "\n\n\n"; + file << "Bounds:\t"; + file << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; + file << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; + file << "\tz: (" << lim.min_z << " ; " << lim.max_z << ')'; + file << "\n\n\n"; if(leaf){ return; } @@ -794,8 +828,8 @@ void OctoTree::Node::printNode(int deep) { if (childs[i] != nullptr) { - std::cout << "Child at Q" << i+1 << "\n"; - childs[i]->printNode(deep); + file << "Child at Q" << i+1 << "\n"; + childs[i]->printNode(deep, file); } } } @@ -839,9 +873,13 @@ bool OctoTree::Node::testNode() for (int i = 0; i < 8; i++) { if (childs[i] != nullptr) - { + { aux = getOctoBounds(i); - if (aux.max_x != childs[i]->lim.max_x && aux.min_x != childs[i]->lim.min_x) + if (aux.max_x != childs[i]->lim.max_x || aux.min_x != childs[i]->lim.min_x) + sta = true; + if (aux.max_y != childs[i]->lim.max_y || aux.min_y != childs[i]->lim.min_y) + sta = true; + if (aux.max_z != childs[i]->lim.max_z || aux.min_z != childs[i]->lim.min_z) sta = true; } diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index 3880ac9430..201d621912 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -3,9 +3,10 @@ #include #include +#include // ERROR WHEN EXPANDING BOUNDS -// Error expanding bounds when prev point is in midpoint of new bounds +// Error expanding bounds when prev point is in midpoint of new bounds /** * add(0, 0, 0) 1º Point @@ -69,7 +70,7 @@ class OctoTree int number_nodes(); int remove_dat(const Item& val); //debug - void printNode(int deep); + void printNode(int deep, std::ostream& file = std::cout); bool testNode(); }; Node* new_root(Node* child, const Bounds& prev_volume, Item* new_data); diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index 439425390c..ed75d14fa4 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -155,13 +155,8 @@ namespace Simulators requestActivation(); } m_sstate = *msg; - m_otree->add(msg->x, msg->y, msg->z, m_otree->size()+1 ); - } - - void - onDeactivation(void) - { - m_otree->printTree(); + int dept = m_otree->add(msg->x, msg->y, msg->z, m_otree->size()+1 ); + inf("Added point %lf, %lf, %lf at dept %d", msg->x, msg->y, msg->z, dept); } //! If active, computes all values using random value generators and dispatches: @@ -204,6 +199,11 @@ namespace Simulators dispatch(m_salinity, DF_KEEP_TIME); dispatch(m_sspeed, DF_KEEP_TIME); inf("Tree is: %d", m_otree->size()); + m_otree->printTree(); + if (m_otree->testTree()) + inf("Tree is \'ok\'"); + else + inf("Tree error"); } }; } From 09d997156243cba81e92f5f9f9f78b6e7e8d8bff Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Mon, 13 Feb 2023 17:55:17 +0000 Subject: [PATCH 05/15] Resolved new_root collision --- src/Simulators/CTD/OctoTree.cpp | 13 +++++++------ src/Simulators/CTD/OctoTree.hpp | 10 ---------- 2 files changed, 7 insertions(+), 16 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index 9230df5536..961c6d1159 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -143,13 +143,15 @@ OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* // when expanding if prev point is in the bounds of its node // it may be insered in the "wrong" octante because this point will collide with new bounds mid point // the default is to insert the midpoints in the lower volume Ex: Bounds of z:[-1, 1] and new point is z = 0 -> inserting in Q5-8 - int pos_data = n_root->getOctante(*child->data); - if (pos != pos_data) + if (child->data != nullptr) { - n_root->insert_data(child->data); - child->data = nullptr; + int pos_data = n_root->getOctante(*child->data); + if (pos != pos_data) + { + n_root->insert_data(child->data); + child->data = nullptr; + } } - n_root->childs[pos] = child; child->myRoot = n_root; @@ -188,7 +190,6 @@ void OctoTree::Node::expandeBounds(const Item& val) if (dy > dz) length = dy; else length = dz; } - length += 0.5; // just a band aid doesn't completely fix the problem } double mid_x, mid_y, mid_z; diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index 201d621912..05027e8611 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -5,16 +5,6 @@ #include #include -// ERROR WHEN EXPANDING BOUNDS -// Error expanding bounds when prev point is in midpoint of new bounds - -/** - * add(0, 0, 0) 1º Point - * add(0.5, 0.5, 0.5) - * add(-3, -3, -3) - * add(-7, -7, -7) -*/ - #define INVALID_BOUNDS 1 #define INVAILD_POINT 2 #define INVALID_INSERT_POINT 3 From 613cc2a72a9fb65604083459866e92bddb566d8f Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Mon, 13 Feb 2023 18:04:42 +0000 Subject: [PATCH 06/15] Removed std::cout --- src/Simulators/CTD/OctoTree.hpp | 2 -- src/Simulators/CTD/Task.cpp | 5 ++--- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index 05027e8611..aef75975b3 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -71,8 +71,6 @@ class OctoTree double search_data(double x, double y, double z); int search(const Bounds& vol, std::vector &points); int size(); - - //to do int remove_data(const Item& val); //debug diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index ed75d14fa4..f844de981c 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -155,8 +155,7 @@ namespace Simulators requestActivation(); } m_sstate = *msg; - int dept = m_otree->add(msg->x, msg->y, msg->z, m_otree->size()+1 ); - inf("Added point %lf, %lf, %lf at dept %d", msg->x, msg->y, msg->z, dept); + m_otree->add(msg->x, msg->y, msg->z, m_otree->size()+1 ); } //! If active, computes all values using random value generators and dispatches: @@ -198,7 +197,7 @@ namespace Simulators dispatch(m_pressure, DF_KEEP_TIME); dispatch(m_salinity, DF_KEEP_TIME); dispatch(m_sspeed, DF_KEEP_TIME); - inf("Tree is: %d", m_otree->size()); + inf("Tree has: %d nodes", m_otree->size()); m_otree->printTree(); if (m_otree->testTree()) inf("Tree is \'ok\'"); From 510ccbbd588b33653baa4eb1550e9d2671bc756b Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Mon, 13 Feb 2023 18:04:56 +0000 Subject: [PATCH 07/15] Removed std::cout --- src/Simulators/CTD/OctoTree.cpp | 20 ++------------------ 1 file changed, 2 insertions(+), 18 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index 961c6d1159..711eabc048 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -20,12 +20,10 @@ OctoTree::Item::Item(double _x, double _y, double _z, double _v) : x(_x), y(_y), z(_z), value(_v) { - //std::cout << "Creating point at (\t" << _x << "\t," << _y << "\t," << _z << "\t):" << value << "\tin address: " << this << '\n'; } OctoTree::Item::~Item() { - //std::cout << "\t deleting point at:(\t" << x << "\t," << y << "\t," << z << "\t):" << value << "\tin address: " << this << '\n'; } /// @brief Create a new Bounds object with bounds at 0 @@ -314,15 +312,8 @@ int OctoTree::Node::getOctante(const Item& val) { if (isOutBounds(val)) - { - std::cout << "\n\nFailed Bounds:"; - std::cout << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; - std::cout << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; - std::cout << "\tz: (" << lim.min_z << " ; " << lim.max_z << ")\n"; - - std::cout << "Failed Point:\tx:" << val.x << "\t y: " << val.y << "\t z:" << val.z << "\tvalue:" << val.value << "\n"; throw INVALID_INSERT_POINT; - } + double mp_x, mp_y, mp_z; mp_x = lim.getMidpoint('x'); @@ -506,11 +497,8 @@ double OctoTree::Node::search(double x, double y, double z) int pos = getOctante(x, y, z); if (childs[pos] == nullptr) - { - std::cout << "Search failed \n"; - std::cout << "Point:" << x << " " << y << " " << z << "\n"; throw INVAILD_POINT; - } + return childs[pos]->search(x, y, z); } @@ -746,7 +734,6 @@ int OctoTree::add(double x, double y, double z, double v) OctoTree::~OctoTree() { - std::cout << "\n\n\tDELETING TREE\n\n"; delete root; } @@ -866,10 +853,7 @@ bool OctoTree::Node::testNode() { bool sta = false; if (isOutBounds(*data)) - { - std::cout << "My item is outside my own Bounds\n"; exit(1); - } Bounds aux; for (int i = 0; i < 8; i++) { From 06873743c7d89e258e4e901119813935b6beea8e Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Tue, 14 Feb 2023 16:24:16 +0000 Subject: [PATCH 08/15] Added function documentation --- src/Simulators/CTD/OctoTree.cpp | 121 ++++++++++++++++++++++---------- src/Simulators/CTD/OctoTree.hpp | 3 +- src/Simulators/CTD/Task.cpp | 2 +- 3 files changed, 87 insertions(+), 39 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index 711eabc048..8f62163d46 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -681,9 +681,9 @@ int OctoTree::Node::number_nodes() return res; } -/// @brief -/// @param val -/// @return +/// @brief removes Item object from tree +/// @param val object +/// @return 1 if successful or 0 if failed int OctoTree::Node::remove_dat(const Item& val) { if (isOutBounds(val)) @@ -706,16 +706,25 @@ int OctoTree::Node::remove_dat(const Item& val) return 0; } + OctoTree::OctoTree() { root = nullptr; } + OctoTree::OctoTree(double x, double y, double z, double val) { root = new Node(nullptr, x, y, z, val); } + +/// @brief Add point to tree +/// @param x x coordinate +/// @param y y coordinate +/// @param z z coordinate +/// @param v value to store +/// @return dept at which the item was inserted int OctoTree::add(double x, double y, double z, double v) { if (root == nullptr) @@ -729,7 +738,7 @@ int OctoTree::add(double x, double y, double z, double v) root = new_root(root, root->lim, point); return 0; } - return root->insert_data(point)+1; + return root->insert_data(point); } OctoTree::~OctoTree() @@ -737,12 +746,18 @@ OctoTree::~OctoTree() delete root; } +/// @brief removes Item object from tree +/// @param val object +/// @return 1 if successful or 0 if failed int OctoTree::remove_data(const Item& val) { return root->remove_dat(val); } - +/// @brief Searches for points inside Bounds volume +/// @param vol Bounds object +/// @param points vector to store the points inside volume +/// @return number of iterations int OctoTree::search(const Bounds &vol, std::vector &points) { return root->search_vol(vol, points); @@ -758,15 +773,31 @@ int OctoTree::size() return root->number_nodes(); } + +/// @brief Search the tree for the point (x,y,z) +/// @param x x coordinate +/// @param y y coordinate +/// @param z z coordinate +/// @return value stored in the point +/// @throw Throws INVALID_POINT if the point doesn't exist double OctoTree::search_data(double x, double y, double z) { return root->search(x, y, z); } + +/// @brief Prints tree to file ../OctoTree Files/OctoTree_log.txt void OctoTree::printTree() { std::ofstream logFile; - logFile.open("OctoTree_log.txt"); + logFile.open("OctoTree Files/OctoTree_log.txt"); + if ( !logFile.is_open() ) + { + if(!system("mkdir \"OctoTree Files\"")) + logFile.open("OctoTree Files/OctoTree_log.txt"); + else return; + } + if (root != nullptr) root->printNode(0, logFile); else @@ -777,13 +808,22 @@ void OctoTree::printTree() } +/// @brief Prints all points in tree to file ../OctoTree Files/OctoTree_teste.txt then searches for each point in Tree \n +/// and testes if Nodes are in correct octante with correct bounds +/// @return result of testNode() bool OctoTree::testTree() { std::vector points; root->add_item(points); std::ofstream testFile; - testFile.open("OctoTree_teste.txt"); + testFile.open("OctoTree Files/OctoTree_teste.txt"); + if (!testFile.is_open()) + { + if(!system("mkdir \"OctoTree Files\"")) + testFile.open("OctoTree Files/OctoTree_teste.txt"); + else return false; + } for (long unsigned int i = 0; i < points.size(); i++) { testFile << "Point" << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->value << "\n"; @@ -794,9 +834,12 @@ bool OctoTree::testTree() } -void OctoTree::Node::printNode(int deep, std::ostream& file) +/// @brief Prints node information to output stream file +/// @param dept Tree dept +/// @param file output stream object +void OctoTree::Node::printNode(int dept, std::ostream& file) { - file << "At deep(" << deep << ") leaf:" << leaf << "\n"; + file << "At dept(" << dept << ") leaf:" << leaf << "\n"; file << "my root is:" << myRoot << "\tmy address:" << this << "\n"; if (data != nullptr) file << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; @@ -811,20 +854,49 @@ void OctoTree::Node::printNode(int deep, std::ostream& file) if(leaf){ return; } - deep++; + dept++; for (int i = 0; i < 8; i++) { if (childs[i] != nullptr) { file << "Child at Q" << i+1 << "\n"; - childs[i]->printNode(deep, file); + childs[i]->printNode(dept, file); } } } -void print_error(int e) + +/// @brief Tests point placement and child bounds are correct +/// @return number of error founds +/// @throw INVALID_BOUNDS if point is out of Node bounds +int OctoTree::Node::testNode() { + int sta = 0; + if (isOutBounds(*data)) + throw INVALID_BOUNDS; + Bounds aux; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + { + aux = getOctoBounds(i); + if (aux.max_x != childs[i]->lim.max_x || aux.min_x != childs[i]->lim.min_x) + sta ++; + if (aux.max_y != childs[i]->lim.max_y || aux.min_y != childs[i]->lim.min_y) + sta ++; + if (aux.max_z != childs[i]->lim.max_z || aux.min_z != childs[i]->lim.min_z) + sta ++; + sta += childs[i]->testNode(); + } + } + + return sta; +} +/// @brief Prints error and terminates program +/// @param e error id +void print_error(int e) +{ std::cerr << "Error encoutered id: " << e << '\n'; switch (e) @@ -846,29 +918,4 @@ void print_error(int e) } exit(EXIT_FAILURE); - } - -bool OctoTree::Node::testNode() -{ - bool sta = false; - if (isOutBounds(*data)) - exit(1); - Bounds aux; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - { - aux = getOctoBounds(i); - if (aux.max_x != childs[i]->lim.max_x || aux.min_x != childs[i]->lim.min_x) - sta = true; - if (aux.max_y != childs[i]->lim.max_y || aux.min_y != childs[i]->lim.min_y) - sta = true; - if (aux.max_z != childs[i]->lim.max_z || aux.min_z != childs[i]->lim.min_z) - sta = true; - - } - } - - return !sta; -} \ No newline at end of file diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index aef75975b3..728a5a118c 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -59,9 +59,10 @@ class OctoTree int add_item(std::vector &points); int number_nodes(); int remove_dat(const Item& val); + //debug void printNode(int deep, std::ostream& file = std::cout); - bool testNode(); + int testNode(); }; Node* new_root(Node* child, const Bounds& prev_volume, Item* new_data); OctoTree(); diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index f844de981c..214c8e8e6c 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -199,7 +199,7 @@ namespace Simulators dispatch(m_sspeed, DF_KEEP_TIME); inf("Tree has: %d nodes", m_otree->size()); m_otree->printTree(); - if (m_otree->testTree()) + if (!m_otree->testTree()) inf("Tree is \'ok\'"); else inf("Tree error"); From e0303cd394a6db2c67561d4f6b69713211d7c5e4 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Thu, 16 Feb 2023 00:48:55 +0000 Subject: [PATCH 09/15] Updated code style --- src/Simulators/CTD/OctoTree.cpp | 1492 ++++++++++++++----------------- src/Simulators/CTD/OctoTree.hpp | 326 +++++-- 2 files changed, 917 insertions(+), 901 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index 8f62163d46..eeabffb0cc 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -1,921 +1,769 @@ +//*************************************************************************** +// Copyright 2007-2013 Universidade do Porto - Faculdade de Engenharia * +// Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * +//*************************************************************************** +// This file is part of DUNE: Unified Navigation Environment. * +// * +// Commercial Licence Usage * +// Licencees holding valid commercial DUNE licences may use this file in * +// accordance with the commercial licence agreement provided with the * +// Software or, alternatively, in accordance with the terms contained in a * +// written agreement between you and Universidade do Porto. For licensing * +// terms, conditions, and further information contact lsts@fe.up.pt. * +// * +// European Union Public Licence - EUPL v.1.1 Usage * +// Alternatively, this file may be used under the terms of the EUPL, * +// Version 1.1 only (the "Licence"), appearing in the file LICENCE.md * +// included in the packaging of this file. You may not use this work * +// except in compliance with the Licence. Unless required by applicable * +// law or agreed to in writing, software distributed under the Licence is * +// distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF * +// ANY KIND, either express or implied. See the Licence for the specific * +// language governing permissions and limitations at * +// https://www.lsts.pt/dune/licence. * +//*************************************************************************** +// Author: João Bogas * +//*************************************************************************** + +// ISO C++ 98 headers. +#include +#include +#include +// DUNE headers. +//#include + +// Local headers. #include "OctoTree.hpp" -#define Q1 0 // X > 0, Y > 0, Z > 0 -#define Q2 1 // X < 0, Y > 0, Z > 0 -#define Q3 2 // X < 0, Y < 0, Z > 0 -#define Q4 3 // X > 0, Y < 0, Z > 0 - -#define Q5 4 // X > 0, Y > 0, Z < 0 -#define Q6 5 // X < 0, Y > 0, Z < 0 -#define Q7 6 // X < 0, Y < 0, Z < 0 -#define Q8 7 // X > 0, Y < 0, Z < 0 - - - -/// @brief Create a new Item object with point (x,y,z) and a value -/// @param _x x coordinate -/// @param _y y coordinate -/// @param _z z coordinate -/// @param _v value to store -OctoTree::Item::Item(double _x, double _y, double _z, double _v) : - x(_x), y(_y), z(_z), value(_v) +namespace Simulators { -} + namespace CTD + { + OctoTree::Bounds::Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z) : + max_x(_max_x), max_y(_max_y), max_z(_max_z), min_x(_min_x), min_y(_min_y), min_z(_min_z) + { + if(_max_x < min_x || _max_y < min_y || _max_z < min_z) + throw INVALID_BOUNDS; + } -OctoTree::Item::~Item() -{ -} + double + OctoTree::Bounds::getMidpoint(char axis) const + { + if (axis == 'x') + return (max_x+min_x)/2; + if (axis == 'y') + return (max_y+min_y)/2; + if (axis == 'z') + return (max_z+min_z)/2; + + return -1; + } -/// @brief Create a new Bounds object with bounds at 0 -OctoTree::Bounds::Bounds() -{ - max_x = min_x = max_y = min_y = max_z = min_z = 0; -} + OctoTree::Node::Node() + { + myRoot = nullptr; + childs.assign(8,nullptr); + leaf = true; + } -/// @brief Create a new Bounds object with the same max and min limits -/// @param _x x max/min limits -/// @param _y y max/min limits -/// @param _z z max/min limits -OctoTree::Bounds::Bounds(double _x, double _y, double _z) : - max_x(_x), max_y(_y), max_z(_z), min_x(_x), min_y(_y), min_z(_z) -{ + OctoTree::Node::Node(Node* parent, double x, double y, double z, double val) + { + myRoot = parent; + data = new Item(x, y, z, val); + childs.assign(8,nullptr); + lim = Bounds(x, y, z); + leaf = true; + } -} + OctoTree::Node::Node(Node* parent, Item *_data, Bounds oct) + { + myRoot = parent; + data = _data; + childs.assign(8,nullptr); + lim = oct; + leaf = true; + } -/// @brief Create a new Bounds object -/// @param _min_x min_x limit -/// @param _max_x max_x limit -/// @param _min_y min_y limit -/// @param _max_y max_y limit -/// @param _min_z min_z limit -/// @param _max_z max_z limit -/// @throw INVALID_BOUNDS if arguments are incorrect -OctoTree::Bounds::Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z) : - max_x(_max_x), max_y(_max_y), max_z(_max_z), min_x(_min_x), min_y(_min_y), min_z(_min_z) -{ - if(_max_x < min_x || _max_y < min_y || _max_z < min_z) - throw INVALID_BOUNDS; -} -/// @brief Return the bounds midpoint correspondent to the axis -/// @param axis {x , y , z} -/// @return -1 if axis is not valid -/// @return or bounds midpoint of axis -double OctoTree::Bounds::getMidpoint(char axis) const -{ - if (axis == 'x') - return (max_x+min_x)/2; - - if (axis == 'y') - return (max_y+min_y)/2; - - if (axis == 'z') - return (max_z+min_z)/2; - - return -1; -} + OctoTree::Node::~Node() + { + delete data; + if (!leaf) + { + for (int i = 0; i < 8; i++) + delete childs[i]; + } + } + OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* new_data) + { + Node* n_root = new Node(nullptr, nullptr, child->lim); + n_root->leaf = false; -/// @brief Creates a new Node object with variables null -OctoTree::Node::Node() -{ - myRoot = nullptr; - childs.assign(8,nullptr); - leaf = true; -} + n_root->expandeBounds(*new_data); + int pos = n_root->getOctante(prev_volume); + + // when expanding if prev point is in the bounds of its node + // it may be insered in the "wrong" octante because this point will collide with new bounds mid point + // the default is to insert the midpoints in the lower volume Ex: Bounds of z:[-1, 1] and new point is z = 0 -> inserting in Q5-8 + if (child->data != nullptr) + { + int pos_data = n_root->getOctante(*child->data); + if (pos != pos_data) + { + n_root->insert_data(child->data); + child->data = nullptr; + } + } + n_root->childs[pos] = child; + child->myRoot = n_root; -/// @brief Creates a new Node object -/// @param parent parent node -/// @param x x coordinate of object OctoTree::Item -/// @param y y coordinate of object OctoTree::Item -/// @param z z coordinate of object OctoTree::Item -/// @param val value to store in object OctoTree::Item -OctoTree::Node::Node(Node* parent, double x, double y, double z, double val) -{ - myRoot = parent; - data = new Item(x, y, z, val); - childs.assign(8,nullptr); - lim = Bounds(x, y, z); - leaf = true; -} + if(n_root->isOutBounds(*new_data)) + return new_root(n_root, prev_volume, new_data); + n_root->data = new_data; -/// @brief Creates a new Node object -/// @param parent parent node -/// @param _data Item object to store in this Node -/// @param oct Bounds object of this Node -OctoTree::Node::Node(Node* parent, Item *_data, Bounds oct) -{ - myRoot = parent; - data = _data; - childs.assign(8,nullptr); - lim = oct; - leaf = true; -} + if (child->lim.max_x == child->lim.min_x) + child->lim = n_root->getOctoBounds(pos); + + return n_root; + } + void OctoTree::Node::expandeBounds(const Item& val) + { + double length = lim.max_x-lim.min_x; + if (length == 0) + { + double dx = (val.x - lim.max_x > 0 ? val.x - lim.max_x : lim.max_x - val.x); + double dy = (val.y - lim.max_y > 0 ? val.y - lim.max_y : lim.max_y - val.y); + double dz = (val.z - lim.max_z > 0 ? val.z - lim.max_z : lim.max_z - val.z); + + if (dx > dy) + { + if (dx > dz) + length = dx; + else + length = dz; + } + else + { + if (dy > dz) + length = dy; + else + length = dz; + } + } -OctoTree::Node::~Node() -{ - delete data; - for (int i = 0; i < 8; i++) - delete childs[i]; -} + double mid_x, mid_y, mid_z; + + mid_x = (val.x > lim.max_x ? lim.max_x : lim.min_x); + mid_y = (val.y > lim.max_y ? lim.max_y : lim.min_y); + mid_z = (val.z > lim.max_z ? lim.max_z : lim.min_z); + + lim.max_x = mid_x + length; + lim.min_x = mid_x - length; + + lim.max_y = mid_y + length; + lim.min_y = mid_y - length; + + lim.max_z = mid_z + length; + lim.min_z = mid_z - length; + } + bool OctoTree::Node::isOutBounds(const Item& val) + { -/// @brief Creates a new root to insert new_data -/// @param child previus root of Octree -/// @param prev_data -/// @param new_data pointer to object Item to insert -/// @return new Node root with bounds expanded and new_data inserted as root data -/// @warning This may create nodes will data = nullptr if it expandes more than once -OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* new_data) -{ - Node* n_root = new Node(nullptr, nullptr, child->lim); - n_root->leaf = false; + if (lim.min_x > val.x || val.x > lim.max_x) + return true; + if (lim.min_y > val.y || val.y > lim.max_y) + return true; + if (lim.min_z > val.z || val.z > lim.max_z) + return true; - n_root->expandeBounds(*new_data); + return false; + } - int pos = n_root->getOctante(prev_volume); - - // when expanding if prev point is in the bounds of its node - // it may be insered in the "wrong" octante because this point will collide with new bounds mid point - // the default is to insert the midpoints in the lower volume Ex: Bounds of z:[-1, 1] and new point is z = 0 -> inserting in Q5-8 - if (child->data != nullptr) - { - int pos_data = n_root->getOctante(*child->data); - if (pos != pos_data) + int OctoTree::Node::insert_data(Item *val) { - n_root->insert_data(child->data); - child->data = nullptr; + int pos = getOctante(*val); + + if (childs[pos] == nullptr) + { + leaf = false; + childs[pos] = new Node(this, val, getOctoBounds(pos)); + return 0; + } + else if (childs[pos]->data == nullptr) + { + childs[pos]->data = val; + return 0; + } + + return childs[pos]->insert_data(val)+1; } - } - n_root->childs[pos] = child; - child->myRoot = n_root; - + int OctoTree::Node::getOctante(const Bounds &volume) + { + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); - if(n_root->isOutBounds(*new_data)) - return new_root(n_root, prev_volume, new_data); - n_root->data = new_data; + double x, y, z; + x = volume.getMidpoint('x'); + y = volume.getMidpoint('y'); + z = volume.getMidpoint('z'); - if (child->lim.max_x == child->lim.min_x) - child->lim = n_root->getOctoBounds(pos); - - return n_root; -} + if (x > mp_x) + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + + return -1; + } + int OctoTree::Node::getOctante(const Item& val) + { + + if (isOutBounds(val)) + throw INVALID_INSERT_POINT; + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); -/// @brief Expandes node bounds in val direction -/// @param val Item object out of this node Bounds -void OctoTree::Node::expandeBounds(const Item& val) -{ - double length = lim.max_x-lim.min_x; - if (length == 0) - { - double dx = (val.x - lim.max_x > 0 ? val.x - lim.max_x : lim.max_x - val.x); - double dy = (val.y - lim.max_y > 0 ? val.y - lim.max_y : lim.max_y - val.y); - double dz = (val.z - lim.max_z > 0 ? val.z - lim.max_z : lim.max_z - val.z); - - if (dx > dy) - { - if (dx > dz) length = dx; - else length = dz; + if (val.x > mp_x) + { + if (val.y > mp_y) + { + if (val.z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (val.z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (val.y > mp_y) + { + if (val.z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (val.z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + return -1;// never utilized } - else + + int OctoTree::Node::getOctante(double x, double y, double z) { - if (dy > dz) length = dy; - else length = dz; - } - } + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); - double mid_x, mid_y, mid_z; - - mid_x = (val.x > lim.max_x ? lim.max_x : lim.min_x); - mid_y = (val.y > lim.max_y ? lim.max_y : lim.min_y); - mid_z = (val.z > lim.max_z ? lim.max_z : lim.min_z); - - lim.max_x = mid_x + length; - lim.min_x = mid_x - length; - - lim.max_y = mid_y + length; - lim.min_y = mid_y - length; - - lim.max_z = mid_z + length; - lim.min_z = mid_z - length; -} + if (x > mp_x) + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + return -1;// never utilized + } + OctoTree::Bounds OctoTree::Node::getOctoBounds(int oct) + { + Bounds res = lim; + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); -/// @brief Checks if item is outside Node limits (Bounds) -/// @param val Item object to verify -/// @return True if item is outside Node bounds. Or false if inside -bool OctoTree::Node::isOutBounds(const Item& val) -{ + switch (oct) + { + case Q1: + res.min_x = mp_x; + res.min_y = mp_y; + res.min_z = mp_z; + break; + case Q2: + res.min_y = mp_y; + res.min_z = mp_z; + res.max_x = mp_x; + break; + case Q3: + res.min_z = mp_z; + res.max_x = mp_x; + res.max_y = mp_y; + break; + case Q4: + res.min_x = mp_x; + res.min_z = mp_z; + res.max_y = mp_y; + break; + case Q5: + res.min_x = mp_x; + res.min_y = mp_y; + res.max_z = mp_z; + break; + case Q6: + res.min_y = mp_y; + res.max_x = mp_x; + res.max_z = mp_z; + break; + case Q7: + res.max_x = mp_x; + res.max_y = mp_y; + res.max_z = mp_z; + break; + case Q8: + res.min_x = mp_x; + res.max_y = mp_y; + res.max_z = mp_z; + break; + default: + break; + } + return res; + } - if (lim.min_x > val.x || val.x > lim.max_x) - { - return true; - } - if (lim.min_y > val.y || val.y > lim.max_y) - { - return true; - } - if (lim.min_z > val.z || val.z > lim.max_z) - { - return true; - } + double OctoTree::Node::search(double x, double y, double z) + { + if (data->x == x && data->y == y && data->z == z) + return data->value; - return false; -} + int pos = getOctante(x, y, z); + if (childs[pos] == nullptr) + throw INVAILD_POINT; -/// @brief Insert object -/// @param val -/// @return dept at which the item was inserted -int OctoTree::Node::insert_data(Item *val) -{ - int pos = getOctante(*val); + return childs[pos]->search(x, y, z); + } - if (childs[pos] == nullptr) - { - leaf = false; - childs[pos] = new Node(this, val, getOctoBounds(pos)); - return 0; - } - else if (childs[pos]->data == nullptr) - { - childs[pos]->data = val; - return 0; - } - - return childs[pos]->insert_data(val)+1; -} -/// @brief Compares the Item coordinates and returns the Octante that corresponds to the Item -/// @param val Item object to verify -/// @warning Item must be inside Node bounds -int OctoTree::Node::getOctante(const Bounds &volume) -{ - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); + int OctoTree::Node::search_vol(const Bounds &vol, std::vector &points) + { + if (inside_vol(vol)) + return add_item(points); + + int res = 1; + if (item_inside(vol)) + { + points.push_back(data); + } + //comparação com octantes + int o_max = getOctante(vol.max_x, vol.max_y, vol.max_z); + int o_min = getOctante(vol.min_x, vol.min_y, vol.min_z); + + if (o_max == o_min) + { + return res + search_child(vol, points, o_max); + } - double x, y, z; - x = volume.getMidpoint('x'); - y = volume.getMidpoint('y'); - z = volume.getMidpoint('z'); + double mpx = lim.getMidpoint('x'); + double mpy = lim.getMidpoint('y'); + double mpz = lim.getMidpoint('z'); + + if (vol.min_x > mpx) + { + if (vol.min_y > mpy) + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q5); + } + else if (vol.max_y < mpy) + { + res += search_child(vol, points, Q4); + res += search_child(vol, points, Q8); + } + else + { + if (vol.min_z > mpz) + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q4); + } + else if (vol.max_z < mpz) + { + res += search_child(vol, points, Q5); + res += search_child(vol, points, Q8); + } + else + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q4); + res += search_child(vol, points, Q5); + res += search_child(vol, points, Q8); + } + } + } + else + { + if (vol.max_x > mpx) + { + for (int i = Q1; i <= Q8; i++) + res += search_child(vol, points, i); + } + else + { + if (vol.min_y > mpx) + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q6); + } + else if (vol.max_y < mpy) + { + res += search_child(vol, points, Q3); + res += search_child(vol, points, Q7); + } + else + { + if (vol.min_z > mpz) + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q3); + } + else if (vol.max_z < mpz) + { + res += search_child(vol, points, Q6); + res += search_child(vol, points, Q7); + } + else + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q3); + res += search_child(vol, points, Q6); + res += search_child(vol, points, Q7); + } + } + } + } - if (x > mp_x) - { - if (y > mp_y) - { - if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ - return Q1; - else /*add to Q5 - X > 0, Y > 0, Z < 0 */ - return Q5; + return res; } - else + + int OctoTree::Node::search_child(const Bounds &vol, std::vector &points, int oct) { - if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ - return Q4; - else /*add to Q8 - X > 0, Y < 0, Z < 0 */ - return Q8; + return (childs[oct] == nullptr ? 0 : childs[oct]->search_vol(vol, points) ); } - } - else - { - if (y > mp_y) + + bool OctoTree::Node::item_inside(const Bounds &vol) { - if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ - return Q2; - else /*add to Q6 - X < 0, Y > 0, Z < 0 */ - return Q6; + if (data == nullptr) + return false; + if (vol.min_x > data->x || data->x > vol.max_x) + return false; + if (vol.min_y > data->y || data->y > vol.max_y) + return false; + if (vol.min_z > data->z || data->z > vol.max_z) + return false; + + return true; } - else + + bool OctoTree::Node::inside_vol(const Bounds &vol) { - if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ - return Q3; - else /*add to Q7 - X < 0, Y < 0, Z < 0 */ - return Q7; + if (vol.min_x > lim.min_x || vol.max_x < lim.max_x) + return false; + if (vol.min_y > lim.min_y || vol.max_y < lim.max_y) + return false; + if (vol.min_y > lim.min_z || vol.max_z < lim.max_z) + return false; + + return true; } - } - - return -1; -} -/// @brief Compares the Item coordinates and returns the Octante that corresponds to the Item -/// @param val Item object to verify -/// @warning Item must be inside Node bounds -/// @exception INVALID_INSERT_POINT if Item is out of bounds -int OctoTree::Node::getOctante(const Item& val) -{ - - if (isOutBounds(val)) - throw INVALID_INSERT_POINT; + int OctoTree::Node::add_item(std::vector &points) + { + if (data!= nullptr) + points.push_back(data); - - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); + int res = 1; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + res += childs[i]->add_item(points); + } + return res; + } - if ( val.x > mp_x) - { - if (val.y > mp_y) + int OctoTree::Node::number_nodes() { - if (val.z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ - return Q1; - else /*add to Q5 - X > 0, Y > 0, Z < 0 */ - return Q5; + if (leaf) + return 1; + int res = 1; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + res += childs[i]->number_nodes(); + } + return res; } - else + + int OctoTree::Node::remove_dat(const Item& val) { - if (val.z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ - return Q4; - else /*add to Q8 - X > 0, Y < 0, Z < 0 */ - return Q8; + if (isOutBounds(val)) + return -1; + if (data != nullptr) + { + if (val.x == data->x && val.y == data->y && val.z == data->z && val.value == data->value) + { + delete data; + data = nullptr; + return 1; + } + } + + int pos = getOctante(val); + + if (childs[pos] != nullptr) + return childs[pos]->remove_dat(val); + + return 0; } - } - else - { - if (val.y > mp_y) + + OctoTree::OctoTree() { - if (val.z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ - return Q2; - else /*add to Q6 - X < 0, Y > 0, Z < 0 */ - return Q6; + root = nullptr; } - else + + OctoTree::OctoTree(double x, double y, double z, double val) { - if (val.z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ - return Q3; - else /*add to Q7 - X < 0, Y < 0, Z < 0 */ - return Q7; + root = new Node(nullptr, x, y, z, val); } - } - return -1;// never utilized -} - - -/// @brief Compares the coordinates and returns the Octante that corresponds to the point (x,y,z) -/// @param x x coordinate -/// @param y y coordinate -/// @param z z coordinate -/// @warning Item must be inside Node bounds -int OctoTree::Node::getOctante(double x, double y, double z) -{ - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); - if ( x > mp_x) - { - if (y > mp_y) + int OctoTree::add(double x, double y, double z, double v) { - if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ - return Q1; - else /*add to Q5 - X > 0, Y > 0, Z < 0 */ - return Q5; + if (root == nullptr) + { + root = new Node(nullptr, x, y, z, v); + return 1; + } + Item* point = new Item(x, y, z, v); + if(root->isOutBounds(*point)) + { + root = new_root(root, root->lim, point); + return 0; + } + return root->insert_data(point); } - else + + OctoTree::~OctoTree() { - if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ - return Q4; - else /*add to Q8 - X > 0, Y < 0, Z < 0 */ - return Q8; + delete root; } - } - else - { - if (y > mp_y) + + int OctoTree::remove_data(const Item& val) { - if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ - return Q2; - else /*add to Q6 - X < 0, Y > 0, Z < 0 */ - return Q6; + return root->remove_dat(val); } - else + + int OctoTree::search(const Bounds &vol, std::vector &points) { - if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ - return Q3; - else /*add to Q7 - X < 0, Y < 0, Z < 0 */ - return Q7; + return root->search_vol(vol, points); } - } - return -1;// never utilized -} - - -/// @brief Returns the octante Bounds object correspondent the param oct -/// @param oct Octante value {0-7} -OctoTree::Bounds OctoTree::Node::getOctoBounds(int oct) -{ - Bounds res = lim; - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); - - - switch (oct) - { - case Q1: - res.min_x = mp_x; - res.min_y = mp_y; - res.min_z = mp_z; - break; - - case Q2: - res.min_y = mp_y; - res.min_z = mp_z; - - res.max_x = mp_x; - break; - - case Q3: - res.min_z = mp_z; - - res.max_x = mp_x; - res.max_y = mp_y; - break; - - case Q4: - res.min_x = mp_x; - res.min_z = mp_z; - - res.max_y = mp_y; - break; - - case Q5: - res.min_x = mp_x; - res.min_y = mp_y; - - res.max_z = mp_z; - break; - - case Q6: - res.min_y = mp_y; - - res.max_x = mp_x; - res.max_z = mp_z; - break; - - case Q7: - res.max_x = mp_x; - res.max_y = mp_y; - res.max_z = mp_z; - break; - - case Q8: - res.min_x = mp_x; - - res.max_y = mp_y; - res.max_z = mp_z; - break; - - default: - break; - } - - return res; -} - - -/// @brief Search the tree for the point (x,y,z) -/// @param x x coordinate -/// @param y y coordinate -/// @param z z coordinate -/// @return value stored in the point -/// @throw Throws INVALID_POINT if the point doesn't exist -double OctoTree::Node::search(double x, double y, double z) -{ - if (data->x == x && data->y == y && data->z == z) - return data->value; - int pos = getOctante(x, y, z); - - if (childs[pos] == nullptr) - throw INVAILD_POINT; - - return childs[pos]->search(x, y, z); -} - -/// @brief Searches for points inside Bounds volume -/// @param vol Bounds object -/// @param points vector to store the points -/// @return number of iterations -int OctoTree::Node::search_vol(const Bounds &vol, std::vector &points) -{ - if (inside_vol(vol)) - return add_item(points); - - int res = 1; - if (item_inside(vol)) - { - points.push_back(data); - } - //comparação com octantes - int o_max = getOctante(vol.max_x, vol.max_y, vol.max_z); - int o_min = getOctante(vol.min_x, vol.min_y, vol.min_z); - - if (o_max == o_min) - { - return res + search_child(vol, points, o_max); - } - - double mpx = lim.getMidpoint('x'); - double mpy = lim.getMidpoint('y'); - double mpz = lim.getMidpoint('z'); - - if (vol.min_x > mpx) - { - if (vol.min_y > mpy) + int OctoTree::size() { - res += search_child(vol, points, Q1); - res += search_child(vol, points, Q5); + if (root == nullptr) + return 0; + + return root->number_nodes(); } - else if (vol.max_y < mpy) + + double OctoTree::search_data(double x, double y, double z) { - res += search_child(vol, points, Q4); - res += search_child(vol, points, Q8); + return root->search(x, y, z); } - else + + void OctoTree::printTree() { - if (vol.min_z > mpz) - { - res += search_child(vol, points, Q1); - res += search_child(vol, points, Q4); - } - else if (vol.max_z < mpz) + std::ofstream logFile; + logFile.open("OctoTree Files/OctoTree_log.txt"); + if ( !logFile.is_open() ) { - res += search_child(vol, points, Q5); - res += search_child(vol, points, Q8); + if(!system("mkdir \"OctoTree Files\"")) + logFile.open("OctoTree Files/OctoTree_log.txt"); + else + return; } + + if (root != nullptr) + root->printNode(0, logFile); else - { - res += search_child(vol, points, Q1); - res += search_child(vol, points, Q4); - res += search_child(vol, points, Q5); - res += search_child(vol, points, Q8); - } - } - } - else - { - if (vol.max_x > mpx) - { - for (int i = Q1; i <= Q8; i++) - { - res += search_child(vol, points, i); - } + logFile << "Tree root is null\n"; + + logFile << "\nTree has " << size() << " Nodes\n"; + logFile.close(); } - else + + bool OctoTree::testTree() { - if (vol.min_y > mpx) + std::vector points; + root->add_item(points); + + std::ofstream testFile; + testFile.open("OctoTree Files/OctoTree_teste.txt"); + if (!testFile.is_open()) { - res += search_child(vol, points, Q2); - res += search_child(vol, points, Q6); + if(!system("mkdir \"OctoTree Files\"")) + testFile.open("OctoTree Files/OctoTree_teste.txt"); + else + return false; } - else if (vol.max_y < mpy) + for (long unsigned int i = 0; i < points.size(); i++) { - res += search_child(vol, points, Q3); - res += search_child(vol, points, Q7); + testFile << "Point" << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->value << "\n"; + search_data(points[i]->x, points[i]->y, points[i]->z); } + testFile.close(); + return root->testNode(); + } + + void OctoTree::Node::printNode(int dept, std::ostream& file) + { + file << "At dept(" << dept << ") leaf:" << leaf << "\n"; + file << "my root is:" << myRoot << "\tmy address:" << this << "\n"; + if (data != nullptr) + file << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; else + file << "Don't have Point\n"; + + file << "Bounds:\t"; + file << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; + file << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; + file << "\tz: (" << lim.min_z << " ; " << lim.max_z << ')'; + file << "\n\n\n"; + if(leaf) + return; + + dept++; + for (int i = 0; i < 8; i++) { - if (vol.min_z > mpz) + if (childs[i] != nullptr) { - res += search_child(vol, points, Q2); - res += search_child(vol, points, Q3); - } - else if (vol.max_z < mpz) - { - res += search_child(vol, points, Q6); - res += search_child(vol, points, Q7); - } - else - { - res += search_child(vol, points, Q2); - res += search_child(vol, points, Q3); - res += search_child(vol, points, Q6); - res += search_child(vol, points, Q7); + file << "Child at Q" << i+1 << "\n"; + childs[i]->printNode(dept, file); } } } - } - - return res; -} - -/// @brief Search child Node if not nullptr -/// @param vol Bounds to search -/// @param points vector to store the points -/// @param oct Octante to search -/// @return 0 if child is nullptr -int OctoTree::Node::search_child(const Bounds &vol, std::vector &points, int oct) -{ - return (childs[oct] == nullptr ? 0 : childs[oct]->search_vol(vol, points) ); -} - -/// @brief Checks if this node item is inside Bounds -/// @param vol Bounds object -bool OctoTree::Node::item_inside(const Bounds &vol) -{ - if (data == nullptr) - return false; - - if (vol.min_x > data->x || data->x > vol.max_x) - return false; - if (vol.min_y > data->y || data->y > vol.max_y) - return false; - if (vol.min_z > data->z || data->z > vol.max_z) - return false; - - return true; -} - -/// @brief Checks if Node bounds is inside volumne -/// @param vol volume -bool OctoTree::Node::inside_vol(const Bounds &vol) -{ - if (vol.min_x > lim.min_x || vol.max_x < lim.max_x) - return false; - if (vol.min_y > lim.min_y || vol.max_y < lim.max_y) - return false; - if (vol.min_y > lim.min_z || vol.max_z < lim.max_z) - return false; - - return true; -} - -/// @brief Add all itens in this node bounds -/// @param points vector to store the points -/// @return number of iterations -int OctoTree::Node::add_item(std::vector &points) -{ - if (data!= nullptr) - points.push_back(data); - - int res = 1; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - res += childs[i]->add_item(points); - } - return res; -} - -/// @return Number of nodes -int OctoTree::Node::number_nodes() -{ - if (leaf) - return 1; - int res = 1; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - res += childs[i]->number_nodes(); - } - return res; -} -/// @brief removes Item object from tree -/// @param val object -/// @return 1 if successful or 0 if failed -int OctoTree::Node::remove_dat(const Item& val) -{ - if (isOutBounds(val)) - return -1; - if (data != nullptr) - { - if (val.x == data->x && val.y == data->y && val.z == data->z && val.value == data->value) + int OctoTree::Node::testNode() { - delete data; - data = nullptr; - return 1; + int sta = 0; + if (isOutBounds(*data)) + throw INVALID_BOUNDS; + Bounds aux; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + { + aux = getOctoBounds(i); + if (aux.max_x != childs[i]->lim.max_x || aux.min_x != childs[i]->lim.min_x) + sta ++; + if (aux.max_y != childs[i]->lim.max_y || aux.min_y != childs[i]->lim.min_y) + sta ++; + if (aux.max_z != childs[i]->lim.max_z || aux.min_z != childs[i]->lim.min_z) + sta ++; + sta += childs[i]->testNode(); + } + } + return sta; } - } - - int pos = getOctante(val); - - if (childs[pos] != nullptr) - return childs[pos]->remove_dat(val); - - return 0; -} - - -OctoTree::OctoTree() -{ - root = nullptr; -} - - -OctoTree::OctoTree(double x, double y, double z, double val) -{ - root = new Node(nullptr, x, y, z, val); -} - - -/// @brief Add point to tree -/// @param x x coordinate -/// @param y y coordinate -/// @param z z coordinate -/// @param v value to store -/// @return dept at which the item was inserted -int OctoTree::add(double x, double y, double z, double v) -{ - if (root == nullptr) - { - root = new Node(nullptr, x, y, z, v); - return 1; - } - Item* point = new Item(x, y, z, v); - if(root->isOutBounds(*point)) - { - root = new_root(root, root->lim, point); - return 0; - } - return root->insert_data(point); -} - -OctoTree::~OctoTree() -{ - delete root; -} - -/// @brief removes Item object from tree -/// @param val object -/// @return 1 if successful or 0 if failed -int OctoTree::remove_data(const Item& val) -{ - return root->remove_dat(val); -} - -/// @brief Searches for points inside Bounds volume -/// @param vol Bounds object -/// @param points vector to store the points inside volume -/// @return number of iterations -int OctoTree::search(const Bounds &vol, std::vector &points) -{ - return root->search_vol(vol, points); -} - - -/// @return Number of nodes inside tree -int OctoTree::size() -{ - if (root == nullptr) - return 0; - - return root->number_nodes(); -} - - -/// @brief Search the tree for the point (x,y,z) -/// @param x x coordinate -/// @param y y coordinate -/// @param z z coordinate -/// @return value stored in the point -/// @throw Throws INVALID_POINT if the point doesn't exist -double OctoTree::search_data(double x, double y, double z) -{ - return root->search(x, y, z); -} - - -/// @brief Prints tree to file ../OctoTree Files/OctoTree_log.txt -void OctoTree::printTree() -{ - std::ofstream logFile; - logFile.open("OctoTree Files/OctoTree_log.txt"); - if ( !logFile.is_open() ) - { - if(!system("mkdir \"OctoTree Files\"")) - logFile.open("OctoTree Files/OctoTree_log.txt"); - else return; - } - - if (root != nullptr) - root->printNode(0, logFile); - else - logFile << "Tree root is null\n"; - - logFile << "\nTree has " << size() << " Nodes\n"; - logFile.close(); -} - -/// @brief Prints all points in tree to file ../OctoTree Files/OctoTree_teste.txt then searches for each point in Tree \n -/// and testes if Nodes are in correct octante with correct bounds -/// @return result of testNode() -bool OctoTree::testTree() -{ - std::vector points; - root->add_item(points); - - std::ofstream testFile; - testFile.open("OctoTree Files/OctoTree_teste.txt"); - if (!testFile.is_open()) - { - if(!system("mkdir \"OctoTree Files\"")) - testFile.open("OctoTree Files/OctoTree_teste.txt"); - else return false; - } - for (long unsigned int i = 0; i < points.size(); i++) - { - testFile << "Point" << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->value << "\n"; - search_data(points[i]->x, points[i]->y, points[i]->z); - } - testFile.close(); - return root->testNode(); -} - - -/// @brief Prints node information to output stream file -/// @param dept Tree dept -/// @param file output stream object -void OctoTree::Node::printNode(int dept, std::ostream& file) -{ - file << "At dept(" << dept << ") leaf:" << leaf << "\n"; - file << "my root is:" << myRoot << "\tmy address:" << this << "\n"; - if (data != nullptr) - file << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; - else - file << "Don't have Point\n"; - - file << "Bounds:\t"; - file << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; - file << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; - file << "\tz: (" << lim.min_z << " ; " << lim.max_z << ')'; - file << "\n\n\n"; - if(leaf){ - return; - } - dept++; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) + void print_error(int e) { - file << "Child at Q" << i+1 << "\n"; - childs[i]->printNode(dept, file); - } - } -} + std::cerr << "Error encoutered id: " << e << '\n'; + switch (e) + { + case INVALID_BOUNDS: + std::cerr << "INVALID_BOUNDS error" << '\n'; + break; + case INVAILD_POINT: + std::cerr << "INVAILD_POINT error" << '\n'; + break; + case INVALID_INSERT_POINT: + std::cerr << "INVALID_INSERT_POINT error" << '\n'; + break; + default: + break; + } -/// @brief Tests point placement and child bounds are correct -/// @return number of error founds -/// @throw INVALID_BOUNDS if point is out of Node bounds -int OctoTree::Node::testNode() -{ - int sta = 0; - if (isOutBounds(*data)) - throw INVALID_BOUNDS; - Bounds aux; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - { - aux = getOctoBounds(i); - if (aux.max_x != childs[i]->lim.max_x || aux.min_x != childs[i]->lim.min_x) - sta ++; - if (aux.max_y != childs[i]->lim.max_y || aux.min_y != childs[i]->lim.min_y) - sta ++; - if (aux.max_z != childs[i]->lim.max_z || aux.min_z != childs[i]->lim.min_z) - sta ++; - sta += childs[i]->testNode(); + exit(EXIT_FAILURE); } } - - return sta; -} - -/// @brief Prints error and terminates program -/// @param e error id -void print_error(int e) -{ - std::cerr << "Error encoutered id: " << e << '\n'; - - switch (e) - { - case INVALID_BOUNDS: - std::cerr << "INVALID_BOUNDS error" << '\n'; - break; - - case INVAILD_POINT: - std::cerr << "INVAILD_POINT error" << '\n'; - break; - - case INVALID_INSERT_POINT: - std::cerr << "INVALID_INSERT_POINT error" << '\n'; - break; - - default: - break; - } - - exit(EXIT_FAILURE); } diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index 728a5a118c..981f6d110c 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -1,88 +1,256 @@ -#ifndef OCTOTREE_HPP_INCLUDED_ -#define OCTOTREE_HPP_INCLUDED_ +//*************************************************************************** +// Copyright 2007-2013 Universidade do Porto - Faculdade de Engenharia * +// Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * +//*************************************************************************** +// This file is part of DUNE: Unified Navigation Environment. * +// * +// Commercial Licence Usage * +// Licencees holding valid commercial DUNE licences may use this file in * +// accordance with the commercial licence agreement provided with the * +// Software or, alternatively, in accordance with the terms contained in a * +// written agreement between you and Universidade do Porto. For licensing * +// terms, conditions, and further information contact lsts@fe.up.pt. * +// * +// European Union Public Licence - EUPL v.1.1 Usage * +// Alternatively, this file may be used under the terms of the EUPL, * +// Version 1.1 only (the "Licence"), appearing in the file LICENCE.md * +// included in the packaging of this file. You may not use this work * +// except in compliance with the Licence. Unless required by applicable * +// law or agreed to in writing, software distributed under the Licence is * +// distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF * +// ANY KIND, either express or implied. See the Licence for the specific * +// language governing permissions and limitations at * +// https://www.lsts.pt/dune/licence. * +//*************************************************************************** +// Author: João Bogas * +//*************************************************************************** +#ifndef SIMULATORS_CTD_OCTO_TREE_HPP_INCLUDED_ +#define SIMULATORS_CTD_OCTO_TREE_HPP_INCLUDED_ + +// ISO C++ 98 headers. #include #include -#include +#include + +// DUNE headers. +//#include +// Local defines. #define INVALID_BOUNDS 1 #define INVAILD_POINT 2 #define INVALID_INSERT_POINT 3 - -class OctoTree +namespace Simulators { -public: - - struct Item - { - double x, y, z, value; - Item(){}; - Item(double _x, double _y, double _z, double _v); - ~Item(); - }; - - struct Bounds - { - double max_x, max_y, max_z; - double min_x, min_y, min_z; - - Bounds(); - Bounds(double _x, double _y, double _z); - Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z); - double getMidpoint(char axis) const; - }; - struct Node - { - bool leaf; - Node* myRoot; - std::vector childs; - Bounds lim; - Item* data; - Node(); - Node(Node* parent, double x, double y, double z, double val); - Node(Node* parent, Item* _data, Bounds oct); - ~Node(); - - void expandeBounds(const Item& val); - bool isOutBounds(const Item& val); - int insert_data(Item *val); - int getOctante(const Bounds& volume); - int getOctante(const Item& val); - int getOctante(double x, double y, double z); - Bounds getOctoBounds(int oct); - double search(double x, double y, double z); - int search_vol(const Bounds& vol, std::vector &points); - int search_child(const Bounds& vol, std::vector &points, int oct); - bool item_inside(const Bounds& vol); - bool inside_vol(const Bounds& vol); - int add_item(std::vector &points); - int number_nodes(); - int remove_dat(const Item& val); - - //debug - void printNode(int deep, std::ostream& file = std::cout); - int testNode(); - }; - Node* new_root(Node* child, const Bounds& prev_volume, Item* new_data); - OctoTree(); - OctoTree(double x, double y, double z, double val); - ~OctoTree(); - int add(double x, double y, double z, double v); - double search_data(double x, double y, double z); - int search(const Bounds& vol, std::vector &points); - int size(); - int remove_data(const Item& val); - - //debug - void printTree(); - bool testTree(); - -private: - Node *root; -}; - -void print_error(int e); - - -#endif // SIMULATORS_CTD_OCTOTREE_HPP_INCLUDED_ \ No newline at end of file + namespace CTD + { + class OctoTree + { + public: + + //! Octants + enum + { + Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8 + }; + + //! Item structure + struct Item + { + double x, y, z, value; + + Item(double _x, double _y, double _z, double _v): + x(_x), y(_y), z(_z), value(_v) + { } + + }; + + //! Bounds structure + struct Bounds + { + double max_x, max_y, max_z; + double min_x, min_y, min_z; + + //! Create a new Bounds object with bounds at 0 + Bounds(): + max_x(0), max_y(0), max_z(0), min_x(0), min_y(0), min_z(0) + { }; + + //! Create a new Bounds object with the same max and min limits + Bounds(double _x, double _y, double _z): + max_x(_x), max_y(_y), max_z(_z), min_x(_x), min_y(_y), min_z(_z) + { }; + + //! Create a new Bounds object + Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z); + + //! Return the bounds midpoint correspondent to the axis + double + getMidpoint(char axis) const; + }; + + struct Node + { + bool leaf; + Node* myRoot; + std::vector childs; + Bounds lim; + Item* data; + + //! Creates a new Node object with variables null + Node(); + + //! Creates a new Node object + Node(Node* parent, double x, double y, double z, double val); + + //! Creates a new Node object + Node(Node* parent, Item* _data, Bounds oct); + + //! Node Destructor + ~Node(); + + //! Expandes node bounds in val direction + void + expandeBounds(const Item& val); + + //! Checks if item is outside Node bounds + bool + isOutBounds(const Item& val); + + //! Insert Item object + //! @return Dept at which the item was inserted + int + insert_data(Item *val); + + //! @return octante of midpoint of volume + //! @warning volume midpoint must be inside Node bounds + int + getOctante(const Bounds& volume); + + //! @return octante that corresponds to the Item + //! @exception INVALID_INSERT_POINT if Item is out of bounds + int + getOctante(const Item& val); + + //! @return Octante that corresponds to the point (x,y,z) + //! @warning Item must be inside Node bounds + int + getOctante(double x, double y, double z); + + //! @return Octante Bounds object correspondent the oct + Bounds + getOctoBounds(int oct); + + //! Search the tree for the point (x,y,z) + //! @return value stored in the point + //! @exception Throws INVALID_POINT if the point doesn't exist + double + search(double x, double y, double z); + + //! Searches for points inside Bounds volume + //! Points inside are added to vector + //! Returns number of iterations + int + search_vol(const Bounds& vol, std::vector& points); + + //! Search_vol of child Node if not nullptr + int + search_child(const Bounds& vol, std::vector& points, int oct); + + //! Checks if this node item is inside Bounds vol + bool + item_inside(const Bounds& vol); + + //! Checks if Node bounds is inside volumne + bool + inside_vol(const Bounds& vol); + + //! Add all itens in this node and his childs to vector + //! @return number of iterations + int + add_item(std::vector& points); + + //! Returns number of nodes + int + number_nodes(); + + //! Removes Item object from tree + //! @return 1 if successful or -1 if failed + int + remove_dat(const Item& val); + + //! Prints node information to output stream file + void + printNode(int dept, std::ostream& file = std::cout); + + //! Tests point placement and child bounds are correct + //! Returns number of errors found + //! @exception INVALID_BOUNDS if point is out of Node bounds + int + testNode(); + }; + + //! Creates a new root to insert new_data + //! @return New Node root with bounds expanded and new_data inserted as root data + //! @warning This may create nodes will data = nullptr if it expandes more than once + Node* + new_root(Node* child, const Bounds& prev_volume, Item* new_data); + + //! + OctoTree(); + + //! + OctoTree(double x, double y, double z, double val); + + //! + ~OctoTree(); + + //! Add point to tree + //! @return dept of point + int + add(double x, double y, double z, double v); + + //! Search the tree for the point (x,y,z) + //! @return value stored in the point + //! @exception INVALID_POINT if the point doesn't exist + double + search_data(double x, double y, double z); + + //! Searches for points inside Bounds volume + //! Points inside are added to vector + //! Returns number of iterations + int + search(const Bounds& vol, std::vector& points); + + //! Returns number of nodes inside tree + int + size(); + + //! Removes Item object from tree + //! @return 1 if successful or -1 if failed + int + remove_data(const Item& val); + + //! Prints tree to file ../OctoTree Files/OctoTree_log.txt + void + printTree(); + + //! Prints all points in tree to file ../OctoTree Files/OctoTree_teste.txt + //! Searches for each point in Tree + //! Returns result of testNode() + bool + testTree(); + + private: + Node* root; // Node pointer + }; + + //! Prints error and terminates program + void + print_error(int e); + } +} + + +#endif \ No newline at end of file From 59a965bb4bd6a548a2de457002aa468cec1bffd2 Mon Sep 17 00:00:00 2001 From: Bogas <119903183+xBogas@users.noreply.github.com> Date: Thu, 16 Feb 2023 15:35:20 +0000 Subject: [PATCH 10/15] To do --- src/Simulators/CTD/OctoTree.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index eeabffb0cc..166d4e0774 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -22,15 +22,20 @@ // language governing permissions and limitations at * // https://www.lsts.pt/dune/licence. * //*************************************************************************** -// Author: João Bogas * +// Author: João Bogas * //*************************************************************************** +// adicionar path para files +// defines para enum + + // ISO C++ 98 headers. #include #include #include + // DUNE headers. -//#include +#include // Local headers. #include "OctoTree.hpp" From a6428362aeb750be4e683f64e6e3ac7ee518983c Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Thu, 16 Feb 2023 16:49:39 +0000 Subject: [PATCH 11/15] Added path arg to task --- src/Simulators/CTD/OctoTree.cpp | 1473 +++++++++++++++---------------- src/Simulators/CTD/OctoTree.hpp | 437 +++++---- src/Simulators/CTD/Task.cpp | 8 +- 3 files changed, 960 insertions(+), 958 deletions(-) diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index 166d4e0774..bf2d5f364d 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -25,15 +25,6 @@ // Author: João Bogas * //*************************************************************************** -// adicionar path para files -// defines para enum - - -// ISO C++ 98 headers. -#include -#include -#include - // DUNE headers. #include @@ -42,733 +33,739 @@ namespace Simulators { - namespace CTD - { - OctoTree::Bounds::Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z) : - max_x(_max_x), max_y(_max_y), max_z(_max_z), min_x(_min_x), min_y(_min_y), min_z(_min_z) - { - if(_max_x < min_x || _max_y < min_y || _max_z < min_z) - throw INVALID_BOUNDS; - } - - double - OctoTree::Bounds::getMidpoint(char axis) const - { - if (axis == 'x') - return (max_x+min_x)/2; - if (axis == 'y') - return (max_y+min_y)/2; - if (axis == 'z') - return (max_z+min_z)/2; - - return -1; - } - - OctoTree::Node::Node() - { - myRoot = nullptr; - childs.assign(8,nullptr); - leaf = true; - } - - OctoTree::Node::Node(Node* parent, double x, double y, double z, double val) - { - myRoot = parent; - data = new Item(x, y, z, val); - childs.assign(8,nullptr); - lim = Bounds(x, y, z); - leaf = true; - } - - OctoTree::Node::Node(Node* parent, Item *_data, Bounds oct) - { - myRoot = parent; - data = _data; - childs.assign(8,nullptr); - lim = oct; - leaf = true; - } - - - OctoTree::Node::~Node() - { - delete data; - if (!leaf) - { - for (int i = 0; i < 8; i++) - delete childs[i]; - } - } - - OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* new_data) - { - Node* n_root = new Node(nullptr, nullptr, child->lim); - n_root->leaf = false; - - n_root->expandeBounds(*new_data); - - int pos = n_root->getOctante(prev_volume); - - // when expanding if prev point is in the bounds of its node - // it may be insered in the "wrong" octante because this point will collide with new bounds mid point - // the default is to insert the midpoints in the lower volume Ex: Bounds of z:[-1, 1] and new point is z = 0 -> inserting in Q5-8 - if (child->data != nullptr) - { - int pos_data = n_root->getOctante(*child->data); - if (pos != pos_data) - { - n_root->insert_data(child->data); - child->data = nullptr; - } - } - n_root->childs[pos] = child; - child->myRoot = n_root; - - if(n_root->isOutBounds(*new_data)) - return new_root(n_root, prev_volume, new_data); - - n_root->data = new_data; - - if (child->lim.max_x == child->lim.min_x) - child->lim = n_root->getOctoBounds(pos); - - return n_root; - } - - void OctoTree::Node::expandeBounds(const Item& val) - { - double length = lim.max_x-lim.min_x; - if (length == 0) - { - double dx = (val.x - lim.max_x > 0 ? val.x - lim.max_x : lim.max_x - val.x); - double dy = (val.y - lim.max_y > 0 ? val.y - lim.max_y : lim.max_y - val.y); - double dz = (val.z - lim.max_z > 0 ? val.z - lim.max_z : lim.max_z - val.z); - - if (dx > dy) - { - if (dx > dz) - length = dx; - else - length = dz; - } - else - { - if (dy > dz) - length = dy; - else - length = dz; - } - } - - double mid_x, mid_y, mid_z; - - mid_x = (val.x > lim.max_x ? lim.max_x : lim.min_x); - mid_y = (val.y > lim.max_y ? lim.max_y : lim.min_y); - mid_z = (val.z > lim.max_z ? lim.max_z : lim.min_z); - - lim.max_x = mid_x + length; - lim.min_x = mid_x - length; - - lim.max_y = mid_y + length; - lim.min_y = mid_y - length; - - lim.max_z = mid_z + length; - lim.min_z = mid_z - length; - } - - bool OctoTree::Node::isOutBounds(const Item& val) - { - - if (lim.min_x > val.x || val.x > lim.max_x) - return true; - if (lim.min_y > val.y || val.y > lim.max_y) - return true; - if (lim.min_z > val.z || val.z > lim.max_z) - return true; - - return false; - } - - int OctoTree::Node::insert_data(Item *val) - { - int pos = getOctante(*val); - - if (childs[pos] == nullptr) - { - leaf = false; - childs[pos] = new Node(this, val, getOctoBounds(pos)); - return 0; - } - else if (childs[pos]->data == nullptr) - { - childs[pos]->data = val; - return 0; - } - - return childs[pos]->insert_data(val)+1; - } - - int OctoTree::Node::getOctante(const Bounds &volume) - { - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); - - double x, y, z; - x = volume.getMidpoint('x'); - y = volume.getMidpoint('y'); - z = volume.getMidpoint('z'); - - if (x > mp_x) - { - if (y > mp_y) - { - if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ - return Q1; - else /*add to Q5 - X > 0, Y > 0, Z < 0 */ - return Q5; - } - else - { - if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ - return Q4; - else /*add to Q8 - X > 0, Y < 0, Z < 0 */ - return Q8; - } - } - else - { - if (y > mp_y) - { - if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ - return Q2; - else /*add to Q6 - X < 0, Y > 0, Z < 0 */ - return Q6; - } - else - { - if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ - return Q3; - else /*add to Q7 - X < 0, Y < 0, Z < 0 */ - return Q7; - } - } - - return -1; - } - - int OctoTree::Node::getOctante(const Item& val) - { - - if (isOutBounds(val)) - throw INVALID_INSERT_POINT; - - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); - - if (val.x > mp_x) - { - if (val.y > mp_y) - { - if (val.z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ - return Q1; - else /*add to Q5 - X > 0, Y > 0, Z < 0 */ - return Q5; - } - else - { - if (val.z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ - return Q4; - else /*add to Q8 - X > 0, Y < 0, Z < 0 */ - return Q8; - } - } - else - { - if (val.y > mp_y) - { - if (val.z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ - return Q2; - else /*add to Q6 - X < 0, Y > 0, Z < 0 */ - return Q6; - } - else - { - if (val.z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ - return Q3; - else /*add to Q7 - X < 0, Y < 0, Z < 0 */ - return Q7; - } - } - return -1;// never utilized - } - - int OctoTree::Node::getOctante(double x, double y, double z) - { - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); - - if (x > mp_x) - { - if (y > mp_y) - { - if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ - return Q1; - else /*add to Q5 - X > 0, Y > 0, Z < 0 */ - return Q5; - } - else - { - if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ - return Q4; - else /*add to Q8 - X > 0, Y < 0, Z < 0 */ - return Q8; - } - } - else - { - if (y > mp_y) - { - if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ - return Q2; - else /*add to Q6 - X < 0, Y > 0, Z < 0 */ - return Q6; - } - else - { - if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ - return Q3; - else /*add to Q7 - X < 0, Y < 0, Z < 0 */ - return Q7; - } - } - return -1;// never utilized - } - - OctoTree::Bounds OctoTree::Node::getOctoBounds(int oct) - { - Bounds res = lim; - double mp_x, mp_y, mp_z; - mp_x = lim.getMidpoint('x'); - mp_y = lim.getMidpoint('y'); - mp_z = lim.getMidpoint('z'); - - switch (oct) - { - case Q1: - res.min_x = mp_x; - res.min_y = mp_y; - res.min_z = mp_z; - break; - case Q2: - res.min_y = mp_y; - res.min_z = mp_z; - res.max_x = mp_x; - break; - case Q3: - res.min_z = mp_z; - res.max_x = mp_x; - res.max_y = mp_y; - break; - case Q4: - res.min_x = mp_x; - res.min_z = mp_z; - res.max_y = mp_y; - break; - case Q5: - res.min_x = mp_x; - res.min_y = mp_y; - res.max_z = mp_z; - break; - case Q6: - res.min_y = mp_y; - res.max_x = mp_x; - res.max_z = mp_z; - break; - case Q7: - res.max_x = mp_x; - res.max_y = mp_y; - res.max_z = mp_z; - break; - case Q8: - res.min_x = mp_x; - res.max_y = mp_y; - res.max_z = mp_z; - break; - default: - break; - } - return res; - } - - double OctoTree::Node::search(double x, double y, double z) - { - if (data->x == x && data->y == y && data->z == z) - return data->value; - - int pos = getOctante(x, y, z); - - if (childs[pos] == nullptr) - throw INVAILD_POINT; - - return childs[pos]->search(x, y, z); - } - - int OctoTree::Node::search_vol(const Bounds &vol, std::vector &points) - { - if (inside_vol(vol)) - return add_item(points); - - int res = 1; - if (item_inside(vol)) - { - points.push_back(data); - } - //comparação com octantes - int o_max = getOctante(vol.max_x, vol.max_y, vol.max_z); - int o_min = getOctante(vol.min_x, vol.min_y, vol.min_z); - - if (o_max == o_min) - { - return res + search_child(vol, points, o_max); - } - - double mpx = lim.getMidpoint('x'); - double mpy = lim.getMidpoint('y'); - double mpz = lim.getMidpoint('z'); - - if (vol.min_x > mpx) - { - if (vol.min_y > mpy) - { - res += search_child(vol, points, Q1); - res += search_child(vol, points, Q5); - } - else if (vol.max_y < mpy) - { - res += search_child(vol, points, Q4); - res += search_child(vol, points, Q8); - } - else - { - if (vol.min_z > mpz) - { - res += search_child(vol, points, Q1); - res += search_child(vol, points, Q4); - } - else if (vol.max_z < mpz) - { - res += search_child(vol, points, Q5); - res += search_child(vol, points, Q8); - } - else - { - res += search_child(vol, points, Q1); - res += search_child(vol, points, Q4); - res += search_child(vol, points, Q5); - res += search_child(vol, points, Q8); - } - } - } - else - { - if (vol.max_x > mpx) - { - for (int i = Q1; i <= Q8; i++) - res += search_child(vol, points, i); - } - else - { - if (vol.min_y > mpx) - { - res += search_child(vol, points, Q2); - res += search_child(vol, points, Q6); - } - else if (vol.max_y < mpy) - { - res += search_child(vol, points, Q3); - res += search_child(vol, points, Q7); - } - else - { - if (vol.min_z > mpz) - { - res += search_child(vol, points, Q2); - res += search_child(vol, points, Q3); - } - else if (vol.max_z < mpz) - { - res += search_child(vol, points, Q6); - res += search_child(vol, points, Q7); - } - else - { - res += search_child(vol, points, Q2); - res += search_child(vol, points, Q3); - res += search_child(vol, points, Q6); - res += search_child(vol, points, Q7); - } - } - } - } - - return res; - } - - int OctoTree::Node::search_child(const Bounds &vol, std::vector &points, int oct) - { - return (childs[oct] == nullptr ? 0 : childs[oct]->search_vol(vol, points) ); - } - - bool OctoTree::Node::item_inside(const Bounds &vol) - { - if (data == nullptr) - return false; - if (vol.min_x > data->x || data->x > vol.max_x) - return false; - if (vol.min_y > data->y || data->y > vol.max_y) - return false; - if (vol.min_z > data->z || data->z > vol.max_z) - return false; - - return true; - } - - bool OctoTree::Node::inside_vol(const Bounds &vol) - { - if (vol.min_x > lim.min_x || vol.max_x < lim.max_x) - return false; - if (vol.min_y > lim.min_y || vol.max_y < lim.max_y) - return false; - if (vol.min_y > lim.min_z || vol.max_z < lim.max_z) - return false; - - return true; - } - - int OctoTree::Node::add_item(std::vector &points) - { - if (data!= nullptr) - points.push_back(data); - - int res = 1; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - res += childs[i]->add_item(points); - } - return res; - } - - int OctoTree::Node::number_nodes() - { - if (leaf) - return 1; - int res = 1; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - res += childs[i]->number_nodes(); - } - return res; - } - - int OctoTree::Node::remove_dat(const Item& val) - { - if (isOutBounds(val)) - return -1; - if (data != nullptr) - { - if (val.x == data->x && val.y == data->y && val.z == data->z && val.value == data->value) - { - delete data; - data = nullptr; - return 1; - } - } - - int pos = getOctante(val); - - if (childs[pos] != nullptr) - return childs[pos]->remove_dat(val); - - return 0; - } - - OctoTree::OctoTree() - { - root = nullptr; - } - - OctoTree::OctoTree(double x, double y, double z, double val) - { - root = new Node(nullptr, x, y, z, val); - } - - int OctoTree::add(double x, double y, double z, double v) - { - if (root == nullptr) - { - root = new Node(nullptr, x, y, z, v); - return 1; - } - Item* point = new Item(x, y, z, v); - if(root->isOutBounds(*point)) - { - root = new_root(root, root->lim, point); - return 0; - } - return root->insert_data(point); - } - - OctoTree::~OctoTree() - { - delete root; - } - - int OctoTree::remove_data(const Item& val) - { - return root->remove_dat(val); - } - - int OctoTree::search(const Bounds &vol, std::vector &points) - { - return root->search_vol(vol, points); - } - - int OctoTree::size() - { - if (root == nullptr) - return 0; - - return root->number_nodes(); - } - - double OctoTree::search_data(double x, double y, double z) - { - return root->search(x, y, z); - } - - void OctoTree::printTree() - { - std::ofstream logFile; - logFile.open("OctoTree Files/OctoTree_log.txt"); - if ( !logFile.is_open() ) - { - if(!system("mkdir \"OctoTree Files\"")) - logFile.open("OctoTree Files/OctoTree_log.txt"); - else - return; - } - - if (root != nullptr) - root->printNode(0, logFile); - else - logFile << "Tree root is null\n"; - - logFile << "\nTree has " << size() << " Nodes\n"; - logFile.close(); - } - - bool OctoTree::testTree() - { - std::vector points; - root->add_item(points); - - std::ofstream testFile; - testFile.open("OctoTree Files/OctoTree_teste.txt"); - if (!testFile.is_open()) - { - if(!system("mkdir \"OctoTree Files\"")) - testFile.open("OctoTree Files/OctoTree_teste.txt"); - else - return false; - } - for (long unsigned int i = 0; i < points.size(); i++) - { - testFile << "Point" << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->value << "\n"; - search_data(points[i]->x, points[i]->y, points[i]->z); - } - testFile.close(); - return root->testNode(); - } - - void OctoTree::Node::printNode(int dept, std::ostream& file) - { - file << "At dept(" << dept << ") leaf:" << leaf << "\n"; - file << "my root is:" << myRoot << "\tmy address:" << this << "\n"; - if (data != nullptr) - file << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; - else - file << "Don't have Point\n"; - - file << "Bounds:\t"; - file << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; - file << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; - file << "\tz: (" << lim.min_z << " ; " << lim.max_z << ')'; - file << "\n\n\n"; - if(leaf) - return; - - dept++; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - { - file << "Child at Q" << i+1 << "\n"; - childs[i]->printNode(dept, file); - } - } - } - - int OctoTree::Node::testNode() - { - int sta = 0; - if (isOutBounds(*data)) - throw INVALID_BOUNDS; - Bounds aux; - for (int i = 0; i < 8; i++) - { - if (childs[i] != nullptr) - { - aux = getOctoBounds(i); - if (aux.max_x != childs[i]->lim.max_x || aux.min_x != childs[i]->lim.min_x) - sta ++; - if (aux.max_y != childs[i]->lim.max_y || aux.min_y != childs[i]->lim.min_y) - sta ++; - if (aux.max_z != childs[i]->lim.max_z || aux.min_z != childs[i]->lim.min_z) - sta ++; - sta += childs[i]->testNode(); - } - } - return sta; - } - - void print_error(int e) - { - std::cerr << "Error encoutered id: " << e << '\n'; - - switch (e) - { - case INVALID_BOUNDS: - std::cerr << "INVALID_BOUNDS error" << '\n'; - break; - case INVAILD_POINT: - std::cerr << "INVAILD_POINT error" << '\n'; - break; - case INVALID_INSERT_POINT: - std::cerr << "INVALID_INSERT_POINT error" << '\n'; - break; - default: - break; - } - - exit(EXIT_FAILURE); - } - } + namespace CTD + { + OctoTree::Bounds::Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z) : + max_x(_max_x), max_y(_max_y), max_z(_max_z), min_x(_min_x), min_y(_min_y), min_z(_min_z) + { + if(_max_x < min_x || _max_y < min_y || _max_z < min_z) + throw ERR_INVALID_BOUNDS; + } + + double + OctoTree::Bounds::getMidpoint(char axis) const + { + if (axis == 'x') + return (max_x+min_x)/2; + if (axis == 'y') + return (max_y+min_y)/2; + if (axis == 'z') + return (max_z+min_z)/2; + + return -1; + } + + OctoTree::Node::Node() + { + myRoot = nullptr; + childs.assign(8,nullptr); + leaf = true; + } + + OctoTree::Node::Node(Node* parent, double x, double y, double z, double val) + { + myRoot = parent; + data = new Item(x, y, z, val); + childs.assign(8,nullptr); + lim = Bounds(x, y, z); + leaf = true; + } + + OctoTree::Node::Node(Node* parent, Item *_data, Bounds oct) + { + myRoot = parent; + data = _data; + childs.assign(8,nullptr); + lim = oct; + leaf = true; + } + + + OctoTree::Node::~Node() + { + delete data; + if (!leaf) + { + for (int i = 0; i < 8; i++) + delete childs[i]; + } + } + + OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* new_data) + { + Node* n_root = new Node(nullptr, nullptr, child->lim); + n_root->leaf = false; + + n_root->expandeBounds(*new_data); + + int pos = n_root->getOctante(prev_volume); + + // when expanding if prev point is in the bounds of its node + // it may be insered in the "wrong" octante because this point will collide with new bounds mid point + // the default is to insert the midpoints in the lower volume Ex: Bounds of z:[-1, 1] and new point is z = 0 -> inserting in Q5-8 + if (child->data != nullptr) + { + int pos_data = n_root->getOctante(*child->data); + if (pos != pos_data) + { + n_root->insert_data(child->data); + child->data = nullptr; + } + } + n_root->childs[pos] = child; + child->myRoot = n_root; + + if(n_root->isOutBounds(*new_data)) + return new_root(n_root, prev_volume, new_data); + + n_root->data = new_data; + + if (child->lim.max_x == child->lim.min_x) + child->lim = n_root->getOctoBounds(pos); + + return n_root; + } + + void OctoTree::Node::expandeBounds(const Item& val) + { + double length = lim.max_x-lim.min_x; + if (length == 0) + { + double dx = (val.x - lim.max_x > 0 ? val.x - lim.max_x : lim.max_x - val.x); + double dy = (val.y - lim.max_y > 0 ? val.y - lim.max_y : lim.max_y - val.y); + double dz = (val.z - lim.max_z > 0 ? val.z - lim.max_z : lim.max_z - val.z); + + if (dx > dy) + { + if (dx > dz) + length = dx; + else + length = dz; + } + else + { + if (dy > dz) + length = dy; + else + length = dz; + } + } + + double mid_x, mid_y, mid_z; + + mid_x = (val.x > lim.max_x ? lim.max_x : lim.min_x); + mid_y = (val.y > lim.max_y ? lim.max_y : lim.min_y); + mid_z = (val.z > lim.max_z ? lim.max_z : lim.min_z); + + lim.max_x = mid_x + length; + lim.min_x = mid_x - length; + + lim.max_y = mid_y + length; + lim.min_y = mid_y - length; + + lim.max_z = mid_z + length; + lim.min_z = mid_z - length; + } + + bool OctoTree::Node::isOutBounds(const Item& val) + { + + if (lim.min_x > val.x || val.x > lim.max_x) + return true; + if (lim.min_y > val.y || val.y > lim.max_y) + return true; + if (lim.min_z > val.z || val.z > lim.max_z) + return true; + + return false; + } + + int OctoTree::Node::insert_data(Item *val) + { + int pos = getOctante(*val); + + if (childs[pos] == nullptr) + { + leaf = false; + childs[pos] = new Node(this, val, getOctoBounds(pos)); + return 0; + } + else if (childs[pos]->data == nullptr) + { + childs[pos]->data = val; + return 0; + } + + return childs[pos]->insert_data(val)+1; + } + + int OctoTree::Node::getOctante(const Bounds &volume) + { + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + double x, y, z; + x = volume.getMidpoint('x'); + y = volume.getMidpoint('y'); + z = volume.getMidpoint('z'); + + if (x > mp_x) + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + + return -1; + } + + int OctoTree::Node::getOctante(const Item& val) + { + + if (isOutBounds(val)) + throw ERR_INVALID_INSERT_POINT; + + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + if (val.x > mp_x) + { + if (val.y > mp_y) + { + if (val.z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (val.z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (val.y > mp_y) + { + if (val.z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (val.z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + return -1;// never utilized + } + + int OctoTree::Node::getOctante(double x, double y, double z) + { + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + if (x > mp_x) + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q1 - X > 0, Y > 0, Z > 0 */ + return Q1; + else /*add to Q5 - X > 0, Y > 0, Z < 0 */ + return Q5; + } + else + { + if (z > mp_z) /*add to Q4 - X > 0, Y < 0, Z > 0 */ + return Q4; + else /*add to Q8 - X > 0, Y < 0, Z < 0 */ + return Q8; + } + } + else + { + if (y > mp_y) + { + if (z > mp_z) /*add to Q2 - X < 0, Y > 0, Z > 0 */ + return Q2; + else /*add to Q6 - X < 0, Y > 0, Z < 0 */ + return Q6; + } + else + { + if (z > mp_z) /*add to Q3 - X < 0, Y < 0, Z > 0 */ + return Q3; + else /*add to Q7 - X < 0, Y < 0, Z < 0 */ + return Q7; + } + } + return -1;// never utilized + } + + OctoTree::Bounds OctoTree::Node::getOctoBounds(int oct) + { + Bounds res = lim; + double mp_x, mp_y, mp_z; + mp_x = lim.getMidpoint('x'); + mp_y = lim.getMidpoint('y'); + mp_z = lim.getMidpoint('z'); + + switch (oct) + { + case Q1: + res.min_x = mp_x; + res.min_y = mp_y; + res.min_z = mp_z; + break; + case Q2: + res.min_y = mp_y; + res.min_z = mp_z; + res.max_x = mp_x; + break; + case Q3: + res.min_z = mp_z; + res.max_x = mp_x; + res.max_y = mp_y; + break; + case Q4: + res.min_x = mp_x; + res.min_z = mp_z; + res.max_y = mp_y; + break; + case Q5: + res.min_x = mp_x; + res.min_y = mp_y; + res.max_z = mp_z; + break; + case Q6: + res.min_y = mp_y; + res.max_x = mp_x; + res.max_z = mp_z; + break; + case Q7: + res.max_x = mp_x; + res.max_y = mp_y; + res.max_z = mp_z; + break; + case Q8: + res.min_x = mp_x; + res.max_y = mp_y; + res.max_z = mp_z; + break; + default: + break; + } + return res; + } + + double OctoTree::Node::search(double x, double y, double z) + { + if (data->x == x && data->y == y && data->z == z) + return data->value; + + int pos = getOctante(x, y, z); + + if (childs[pos] == nullptr) + throw ERR_INVAILD_POINT; + + return childs[pos]->search(x, y, z); + } + + int OctoTree::Node::search_vol(const Bounds &vol, std::vector &points) + { + if (inside_vol(vol)) + return add_item(points); + + int res = 1; + if (item_inside(vol)) + { + points.push_back(data); + } + //comparação com octantes + int o_max = getOctante(vol.max_x, vol.max_y, vol.max_z); + int o_min = getOctante(vol.min_x, vol.min_y, vol.min_z); + + if (o_max == o_min) + return res + search_child(vol, points, o_max); + + double mpx = lim.getMidpoint('x'); + double mpy = lim.getMidpoint('y'); + double mpz = lim.getMidpoint('z'); + + if (vol.min_x > mpx) + { + if (vol.min_y > mpy) + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q5); + } + else if (vol.max_y < mpy) + { + res += search_child(vol, points, Q4); + res += search_child(vol, points, Q8); + } + else + { + if (vol.min_z > mpz) + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q4); + } + else if (vol.max_z < mpz) + { + res += search_child(vol, points, Q5); + res += search_child(vol, points, Q8); + } + else + { + res += search_child(vol, points, Q1); + res += search_child(vol, points, Q4); + res += search_child(vol, points, Q5); + res += search_child(vol, points, Q8); + } + } + } + else + { + if (vol.max_x > mpx) + { + for (int i = Q1; i <= Q8; i++) + res += search_child(vol, points, i); + } + else + { + if (vol.min_y > mpx) + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q6); + } + else if (vol.max_y < mpy) + { + res += search_child(vol, points, Q3); + res += search_child(vol, points, Q7); + } + else + { + if (vol.min_z > mpz) + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q3); + } + else if (vol.max_z < mpz) + { + res += search_child(vol, points, Q6); + res += search_child(vol, points, Q7); + } + else + { + res += search_child(vol, points, Q2); + res += search_child(vol, points, Q3); + res += search_child(vol, points, Q6); + res += search_child(vol, points, Q7); + } + } + } + } + + return res; + } + + int OctoTree::Node::search_child(const Bounds &vol, std::vector &points, int oct) + { + return (childs[oct] == nullptr ? 0 : childs[oct]->search_vol(vol, points) ); + } + + bool OctoTree::Node::item_inside(const Bounds &vol) + { + if (data == nullptr) + return false; + if (vol.min_x > data->x || data->x > vol.max_x) + return false; + if (vol.min_y > data->y || data->y > vol.max_y) + return false; + if (vol.min_z > data->z || data->z > vol.max_z) + return false; + + return true; + } + + bool OctoTree::Node::inside_vol(const Bounds &vol) + { + if (vol.min_x > lim.min_x || vol.max_x < lim.max_x) + return false; + if (vol.min_y > lim.min_y || vol.max_y < lim.max_y) + return false; + if (vol.min_z > lim.min_z || vol.max_z < lim.max_z) + return false; + + return true; + } + + int OctoTree::Node::add_item(std::vector &points) + { + if (data!= nullptr) + points.push_back(data); + + int res = 1; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + res += childs[i]->add_item(points); + } + return res; + } + + int OctoTree::Node::number_nodes() + { + if (leaf) + return 1; + int res = 1; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + res += childs[i]->number_nodes(); + } + return res; + } + + int OctoTree::Node::remove_dat(const Item& val) + { + if (isOutBounds(val)) + return -1; + if (data != nullptr) + { + if (val.x == data->x && val.y == data->y && val.z == data->z && val.value == data->value) + { + delete data; + data = nullptr; + return 1; + } + } + + int pos = getOctante(val); + + if (childs[pos] != nullptr) + return childs[pos]->remove_dat(val); + + return 0; + } + + OctoTree::OctoTree(std::string& dir) + { + root = nullptr; + path = dir; + } + + OctoTree::OctoTree(double x, double y, double z, double val) + { + root = new Node(nullptr, x, y, z, val); + } + + int OctoTree::add(double x, double y, double z, double v) + { + if (root == nullptr) + { + root = new Node(nullptr, x, y, z, v); + return 1; + } + Item* point = new Item(x, y, z, v); + if(root->isOutBounds(*point)) + { + root = new_root(root, root->lim, point); + return 0; + } + return root->insert_data(point); + } + + OctoTree::~OctoTree() + { + delete root; + } + + int OctoTree::remove_data(const Item& val) + { + return root->remove_dat(val); + } + + int OctoTree::search(const Bounds &vol, std::vector &points) + { + return root->search_vol(vol, points); + } + + int OctoTree::size() + { + if (root == nullptr) + return 0; + + return root->number_nodes(); + } + + double OctoTree::search_data(double x, double y, double z) + { + return root->search(x, y, z); + } + + void OctoTree::printTree() + { + std::ofstream logFile; + std::string logPath = path; + logPath.append("/"); + logPath.append(log); + + logFile.open(logPath); + if ( !logFile.is_open() ) + { + if(!mkdir(path.c_str(), 0777)) + logFile.open(logPath); + else + return; + } + + if (root != nullptr) + root->printNode(0, logFile); + else + logFile << "Tree root is null\n"; + + logFile << "\nTree has " << size() << " Nodes\n"; + logFile.close(); + } + + bool OctoTree::testTree() + { + std::vector points; + root->add_item(points); + + std::ofstream testFile; + + std::string testPath = path; + testPath.append("/"); + testPath.append(test); + + testFile.open(testPath); + if (!testFile.is_open()) + { + if(!mkdir(path.c_str(), 0777)) + testFile.open(testPath); + else + return false; + } + for (long unsigned int i = 0; i < points.size(); i++) + { + testFile << "Point " << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->value << "\n"; + search_data(points[i]->x, points[i]->y, points[i]->z); + } + testFile.close(); + return root->testNode(); + } + + void OctoTree::Node::printNode(int dept, std::ostream& file) + { + file << "At dept(" << dept << ") leaf:" << leaf << "\n"; + file << "my root is:" << myRoot << "\tmy address:" << this << "\n"; + if (data != nullptr) + file << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; + else + file << "Don't have Point\n"; + + file << "Bounds:\t"; + file << "x: (" << lim.min_x << " ; " << lim.max_x << ')'; + file << "\ty: (" << lim.min_y << " ; " << lim.max_y << ')'; + file << "\tz: (" << lim.min_z << " ; " << lim.max_z << ')'; + file << "\n\n\n"; + if(leaf) + return; + + dept++; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + { + file << "Child at Q" << i+1 << "\n"; + childs[i]->printNode(dept, file); + } + } + } + + int OctoTree::Node::testNode() + { + int sta = 0; + if (isOutBounds(*data)) + throw ERR_INVALID_BOUNDS; + Bounds aux; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + { + aux = getOctoBounds(i); + if (aux.max_x != childs[i]->lim.max_x || aux.min_x != childs[i]->lim.min_x) + sta ++; + if (aux.max_y != childs[i]->lim.max_y || aux.min_y != childs[i]->lim.min_y) + sta ++; + if (aux.max_z != childs[i]->lim.max_z || aux.min_z != childs[i]->lim.min_z) + sta ++; + sta += childs[i]->testNode(); + } + } + return sta; + } + + void OctoTree::print_error(int e) + { + std::cerr << "Error encoutered id: " << e << '\n'; + switch (e) + { + case ERR_INVALID_BOUNDS: + std::cerr << "INVALID_BOUNDS error" << '\n'; + break; + case ERR_INVAILD_POINT: + std::cerr << "INVAILD_POINT error" << '\n'; + break; + case ERR_INVALID_INSERT_POINT: + std::cerr << "INVALID_INSERT_POINT error" << '\n'; + break; + default: + break; + } + exit(EXIT_FAILURE); + } + } } diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index 981f6d110c..a3222ea5fe 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -22,234 +22,233 @@ // language governing permissions and limitations at * // https://www.lsts.pt/dune/licence. * //*************************************************************************** -// Author: João Bogas * +// Author: João Bogas * //*************************************************************************** #ifndef SIMULATORS_CTD_OCTO_TREE_HPP_INCLUDED_ #define SIMULATORS_CTD_OCTO_TREE_HPP_INCLUDED_ -// ISO C++ 98 headers. -#include -#include -#include - // DUNE headers. -//#include - -// Local defines. -#define INVALID_BOUNDS 1 -#define INVAILD_POINT 2 -#define INVALID_INSERT_POINT 3 +#include namespace Simulators { - namespace CTD - { - class OctoTree - { - public: - - //! Octants - enum - { - Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8 - }; - - //! Item structure - struct Item - { - double x, y, z, value; - - Item(double _x, double _y, double _z, double _v): - x(_x), y(_y), z(_z), value(_v) - { } - - }; - - //! Bounds structure - struct Bounds - { - double max_x, max_y, max_z; - double min_x, min_y, min_z; - - //! Create a new Bounds object with bounds at 0 - Bounds(): - max_x(0), max_y(0), max_z(0), min_x(0), min_y(0), min_z(0) - { }; - - //! Create a new Bounds object with the same max and min limits - Bounds(double _x, double _y, double _z): - max_x(_x), max_y(_y), max_z(_z), min_x(_x), min_y(_y), min_z(_z) - { }; - - //! Create a new Bounds object - Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z); - - //! Return the bounds midpoint correspondent to the axis - double - getMidpoint(char axis) const; - }; - - struct Node - { - bool leaf; - Node* myRoot; - std::vector childs; - Bounds lim; - Item* data; - - //! Creates a new Node object with variables null - Node(); - - //! Creates a new Node object - Node(Node* parent, double x, double y, double z, double val); - - //! Creates a new Node object - Node(Node* parent, Item* _data, Bounds oct); - - //! Node Destructor - ~Node(); - - //! Expandes node bounds in val direction - void - expandeBounds(const Item& val); - - //! Checks if item is outside Node bounds - bool - isOutBounds(const Item& val); - - //! Insert Item object - //! @return Dept at which the item was inserted - int - insert_data(Item *val); - - //! @return octante of midpoint of volume - //! @warning volume midpoint must be inside Node bounds - int - getOctante(const Bounds& volume); - - //! @return octante that corresponds to the Item - //! @exception INVALID_INSERT_POINT if Item is out of bounds - int - getOctante(const Item& val); - - //! @return Octante that corresponds to the point (x,y,z) - //! @warning Item must be inside Node bounds - int - getOctante(double x, double y, double z); - - //! @return Octante Bounds object correspondent the oct - Bounds - getOctoBounds(int oct); - - //! Search the tree for the point (x,y,z) - //! @return value stored in the point - //! @exception Throws INVALID_POINT if the point doesn't exist - double - search(double x, double y, double z); - - //! Searches for points inside Bounds volume - //! Points inside are added to vector - //! Returns number of iterations - int - search_vol(const Bounds& vol, std::vector& points); - - //! Search_vol of child Node if not nullptr - int - search_child(const Bounds& vol, std::vector& points, int oct); - - //! Checks if this node item is inside Bounds vol - bool - item_inside(const Bounds& vol); - - //! Checks if Node bounds is inside volumne - bool - inside_vol(const Bounds& vol); - - //! Add all itens in this node and his childs to vector - //! @return number of iterations - int - add_item(std::vector& points); - - //! Returns number of nodes - int - number_nodes(); - - //! Removes Item object from tree - //! @return 1 if successful or -1 if failed - int - remove_dat(const Item& val); - - //! Prints node information to output stream file - void - printNode(int dept, std::ostream& file = std::cout); - - //! Tests point placement and child bounds are correct - //! Returns number of errors found - //! @exception INVALID_BOUNDS if point is out of Node bounds - int - testNode(); - }; - - //! Creates a new root to insert new_data - //! @return New Node root with bounds expanded and new_data inserted as root data - //! @warning This may create nodes will data = nullptr if it expandes more than once - Node* - new_root(Node* child, const Bounds& prev_volume, Item* new_data); - - //! - OctoTree(); - - //! - OctoTree(double x, double y, double z, double val); - - //! - ~OctoTree(); - - //! Add point to tree - //! @return dept of point - int - add(double x, double y, double z, double v); - - //! Search the tree for the point (x,y,z) - //! @return value stored in the point - //! @exception INVALID_POINT if the point doesn't exist - double - search_data(double x, double y, double z); - - //! Searches for points inside Bounds volume - //! Points inside are added to vector - //! Returns number of iterations - int - search(const Bounds& vol, std::vector& points); - - //! Returns number of nodes inside tree - int - size(); - - //! Removes Item object from tree - //! @return 1 if successful or -1 if failed - int - remove_data(const Item& val); - - //! Prints tree to file ../OctoTree Files/OctoTree_log.txt - void - printTree(); - - //! Prints all points in tree to file ../OctoTree Files/OctoTree_teste.txt - //! Searches for each point in Tree - //! Returns result of testNode() - bool - testTree(); - - private: - Node* root; // Node pointer - }; - - //! Prints error and terminates program - void - print_error(int e); - } + namespace CTD + { + class OctoTree + { + public: + + //! Octants + enum + { + Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8 + }; + + //! Errors + enum + { + ERR_INVALID_BOUNDS, ERR_INVAILD_POINT, ERR_INVALID_INSERT_POINT + }; + + //! Item structure + struct Item + { + double x, y, z, value; + + Item(double _x, double _y, double _z, double _v): + x(_x), y(_y), z(_z), value(_v) + { } + + }; + + //! Bounds structure + struct Bounds + { + double max_x, max_y, max_z; + double min_x, min_y, min_z; + + //! Create a new Bounds object with bounds at 0 + Bounds(): + max_x(0), max_y(0), max_z(0), min_x(0), min_y(0), min_z(0) + { }; + + //! Create a new Bounds object with the same max and min limits + Bounds(double _x, double _y, double _z): + max_x(_x), max_y(_y), max_z(_z), min_x(_x), min_y(_y), min_z(_z) + { }; + + //! Create a new Bounds object + Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z); + + //! Return the bounds midpoint correspondent to the axis + double + getMidpoint(char axis) const; + }; + + struct Node + { + bool leaf; + Node* myRoot; + std::vector childs; + Bounds lim; + Item* data; + + //! Creates a new Node object with variables null + Node(); + + //! Creates a new Node object + Node(Node* parent, double x, double y, double z, double val); + + //! Creates a new Node object + Node(Node* parent, Item* _data, Bounds oct); + + //! Node Destructor + ~Node(); + + //! Expandes node bounds in val direction + void + expandeBounds(const Item& val); + + //! Checks if item is outside Node bounds + bool + isOutBounds(const Item& val); + + //! Insert Item object + //! @return Dept at which the item was inserted + int + insert_data(Item *val); + + //! @return octante of midpoint of volume + //! @warning volume midpoint must be inside Node bounds + int + getOctante(const Bounds& volume); + + //! @return octante that corresponds to the Item + //! @exception INVALID_INSERT_POINT if Item is out of bounds + int + getOctante(const Item& val); + + //! @return Octante that corresponds to the point (x,y,z) + //! @warning Item must be inside Node bounds + int + getOctante(double x, double y, double z); + + //! @return Octante Bounds object correspondent the oct + Bounds + getOctoBounds(int oct); + + //! Search the tree for the point (x,y,z) + //! @return value stored in the point + //! @exception Throws INVALID_POINT if the point doesn't exist + double + search(double x, double y, double z); + + //! Searches for points inside Bounds volume + //! Points inside are added to vector + //! Returns number of iterations + int + search_vol(const Bounds& vol, std::vector& points); + + //! Search_vol of child Node if not nullptr + int + search_child(const Bounds& vol, std::vector& points, int oct); + + //! Checks if this node item is inside Bounds vol + bool + item_inside(const Bounds& vol); + + //! Checks if Node bounds is inside volumne + bool + inside_vol(const Bounds& vol); + + //! Add all itens in this node and his childs to vector + //! @return number of iterations + int + add_item(std::vector& points); + + //! Returns number of nodes + int + number_nodes(); + + //! Removes Item object from tree + //! @return 1 if successful or -1 if failed + int + remove_dat(const Item& val); + + //! Prints node information to output stream file + void + printNode(int dept, std::ostream& file = std::cout); + + //! Tests point placement and child bounds are correct + //! Returns number of errors found + //! @exception INVALID_BOUNDS if point is out of Node bounds + int + testNode(); + }; + + //! Creates a new root to insert new_data + //! @return New Node root with bounds expanded and new_data inserted as root data + //! @warning This may create nodes will data = nullptr if it expandes more than once + Node* + new_root(Node* child, const Bounds& prev_volume, Item* new_data); + + //! + OctoTree(std::string& dir); + + //! + OctoTree(double x, double y, double z, double val); + + //! + ~OctoTree(); + + //! Add point to tree + //! @return dept of point + int + add(double x, double y, double z, double v); + + //! Search the tree for the point (x,y,z) + //! @return value stored in the point + //! @exception INVALID_POINT if the point doesn't exist + double + search_data(double x, double y, double z); + + //! Searches for points inside Bounds volume + //! Points inside are added to vector + //! Returns number of iterations + int + search(const Bounds& vol, std::vector& points); + + //! Returns number of nodes inside tree + int + size(); + + //! Removes Item object from tree + //! @return 1 if successful or -1 if failed + int + remove_data(const Item& val); + + //! Prints tree to file ../OctoTree Files/OctoTree_log.txt + void + printTree(); + + //! Prints all points in tree to file ../OctoTree Files/OctoTree_teste.txt + //! Searches for each point in Tree + //! Returns result of testNode() + bool + testTree(); + + //! Prints error and terminates program + void + print_error(int e); + + private: + Node* root; // Node pointer + std::string path; // Path to Tree files + std::string log = "OctoTree_log.txt"; // Tree log file + std::string test = "OctoTree_test.txt"; // Tree test file + }; + } } diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index 214c8e8e6c..551106d021 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -61,6 +61,8 @@ namespace Simulators std::string prng_type; //! PRNG seed. int prng_seed; + //! OctoTree path + std::string o_path; }; //! %SVS simulator task. @@ -113,6 +115,10 @@ namespace Simulators .description("Random seed to use to random generator.") .defaultValue("-1"); + param("OctoTree Path", m_args.o_path) + .description("Path to OctoTree debug files.") + .defaultValue("OctoTree_Files"); + // Register consumers. bind(this); } @@ -123,7 +129,7 @@ namespace Simulators void onResourceInitialization(void) { - m_otree = new OctoTree(); + m_otree = new OctoTree(m_args.o_path); inf("Created ocTree"); requestDeactivation(); } From 5e19d7e8e6e154b33e6a33106c85ad4583386c77 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Tue, 21 Feb 2023 19:23:22 +0000 Subject: [PATCH 12/15] Added ocTree.ini --- etc/lauv-simulator-1.ini | 1 + etc/simulation/ocTree.ini | 15034 ++++++++++++++++++++++++++++++ src/Simulators/CTD/OctoTree.cpp | 198 +- src/Simulators/CTD/OctoTree.hpp | 80 +- src/Simulators/CTD/Task.cpp | 76 +- 5 files changed, 15267 insertions(+), 122 deletions(-) create mode 100644 etc/simulation/ocTree.ini diff --git a/etc/lauv-simulator-1.ini b/etc/lauv-simulator-1.ini index 2cbb492099..0dd662fb71 100644 --- a/etc/lauv-simulator-1.ini +++ b/etc/lauv-simulator-1.ini @@ -30,6 +30,7 @@ ############################################################################ [Require auv/basic.ini] +[Require simulation/ocTree.ini] [General] Vehicle = lauv-simulator-1 diff --git a/etc/simulation/ocTree.ini b/etc/simulation/ocTree.ini new file mode 100644 index 0000000000..9277e0318d --- /dev/null +++ b/etc/simulation/ocTree.ini @@ -0,0 +1,15034 @@ +############################################################################ +# Copyright 2007-2023 Universidade do Porto - Faculdade de Engenharia # +# Laboratório de Sistemas e Tecnologia Subaquática (LSTS) # +############################################################################ +# This file is part of DUNE: Unified Navigation Environment. # +# # +# Commercial Licence Usage # +# Licencees holding valid commercial DUNE licences may use this file in # +# accordance with the commercial licence agreement provided with the # +# Software or, alternatively, in accordance with the terms contained in a # +# written agreement between you and Faculdade de Engenharia da # +# Universidade do Porto. For licensing terms, conditions, and further # +# information contact lsts@fe.up.pt. # +# # +# Modified European Union Public Licence - EUPL v.1.1 Usage # +# Alternatively, this file may be used under the terms of the Modified # +# EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md # +# included in the packaging of this file. You may not use this work # +# except in compliance with the Licence. Unless required by applicable # +# law or agreed to in writing, software distributed under the Licence is # +# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF # +# ANY KIND, either express or implied. See the Licence for the specific # +# language governing permissions and limitations at # +# https://github.com/LSTS/dune/blob/master/LICENCE.md and # +# http://ec.europa.eu/idabc/eupl.html. # +############################################################################ +# Author: João Bogas # +############################################################################ + +[ocTree] + +Latitude (degrees) = 41.159804 +Longitude (degrees) = -8.693256 + +3D_Data = 2136.08 -2170.77 10.19 16.53 1.32, + 1957.75 -2241.01 10.76 15.54 16.39, + 2113.24 -2398.86 51.67 18.77 9.26, + 2119.38 -1931.53 97.68 14.07 19.85, + 2164.66 -2022.89 98.68 15.38 14.71, + 1879.02 -2236.14 61.59 14.78 19.20, + 1934.09 -2212.50 44.13 15.03 14.86, + 2107.29 -1854.26 75.04 13.25 24.52, + 1911.11 -2301.06 29.82 15.76 21.16, + 2021.59 -2068.57 40.62 14.39 0.43, + 1990.96 -2153.67 33.89 14.95 8.24, + 2051.55 -2121.46 59.05 15.21 0.68, + 1945.91 -2095.89 27.10 13.95 8.64, + 2005.36 -1933.48 65.98 12.96 10.55, + 2180.89 -2021.12 58.35 15.52 13.15, + 2166.48 -2060.78 50.14 15.75 9.17, + 2054.28 -2236.69 7.68 16.41 9.54, + 2086.92 -2037.83 95.94 14.74 9.46, + 1856.64 -2337.92 77.93 15.69 23.87, + 2042.79 -2104.13 30.80 14.94 1.95, + 1806.52 -2390.44 32.76 15.83 32.13, + 1897.15 -2360.65 94.96 16.31 20.36, + 1854.89 -1995.10 50.61 12.16 7.32, + 2121.67 -1861.74 61.93 13.45 23.63, + 1862.67 -2171.53 98.52 13.98 14.74, + 1960.38 -1937.70 60.11 12.58 6.54, + 1851.92 -1904.05 30.43 11.29 1.89, + 1843.52 -2306.49 36.55 15.22 26.51, + 2199.57 -2336.70 88.76 18.97 1.85, + 1887.30 -2052.40 43.83 12.99 9.26, + 2005.17 -2221.26 23.35 15.78 11.30, + 2135.64 -2107.46 98.95 15.91 7.35, + 2045.06 -1893.41 54.59 12.98 15.76, + 1918.41 -2220.12 75.02 14.97 14.45, + 2055.02 -2239.00 96.63 16.46 4.74, + 2009.71 -2116.30 53.27 14.75 3.48, + 1997.43 -2056.26 36.61 14.04 1.55, + 2189.11 -2051.50 40.76 15.89 10.33, + 1917.01 -2170.56 28.31 14.44 15.13, + 2108.54 -1957.32 66.43 14.19 14.97, + 2010.70 -2320.06 81.37 16.90 11.74, + 2107.97 -1924.23 62.19 13.88 17.40, + 1960.09 -2278.77 25.48 15.97 16.84, + 2156.61 -2015.95 8.47 15.21 9.28, + 1913.33 -2057.71 28.17 13.28 8.66, + 1940.98 -1899.89 83.82 12.07 10.27, + 2123.09 -2276.74 58.62 17.52 4.52, + 2167.61 -1894.40 35.85 14.20 21.22, + 1827.90 -2137.71 79.77 13.33 17.08, + 2179.73 -2214.66 36.55 17.44 0.08, + 2010.40 -2198.53 66.65 15.60 7.26, + 1834.42 -2128.15 12.52 13.27 20.97, + 1876.89 -2175.31 31.51 14.13 18.46, + 2065.29 -2393.63 17.25 18.23 13.38, + 2156.09 -2189.90 74.45 16.95 2.08, + 1939.56 -1946.83 30.03 12.47 1.81, + 1825.67 -1931.33 77.36 11.32 2.46, + 1808.01 -2293.95 4.88 14.78 31.28, + 1983.08 -1853.32 66.58 12.04 16.18, + 1825.24 -1868.03 66.12 10.75 2.11, + 1895.31 -1946.35 48.70 12.06 0.19, + 2188.25 -2274.58 89.93 18.18 0.16, + 2160.88 -2175.49 65.07 16.84 2.62, + 2140.37 -2039.77 3.29 15.27 6.43, + 1906.67 -2094.70 64.95 13.59 8.93, + 2015.90 -2014.49 61.70 13.82 4.49, + 1950.08 -2356.07 56.56 16.73 18.38, + 2104.10 -2350.95 1.56 18.14 10.70, + 2005.01 -2265.98 2.45 16.25 14.39, + 2067.09 -2126.63 84.87 15.42 1.54, + 2012.64 -1908.27 67.99 12.81 13.37, + 1815.71 -2186.05 83.83 13.72 20.56, + 1975.06 -2250.86 47.06 15.81 13.37, + 2172.73 -2387.04 93.47 19.26 4.41, + 2172.32 -1802.00 92.30 13.46 33.94, + 2088.38 -1908.58 75.24 13.54 18.58, + 1913.72 -1886.93 77.29 11.70 8.80, + 2095.41 -2278.74 50.92 17.27 6.51, + 2055.99 -2002.98 11.09 14.09 4.45, + 1941.62 -2224.64 57.06 15.23 14.04, + 2075.14 -2093.40 87.47 15.17 4.33, + 1866.39 -1801.51 77.73 10.53 13.12, + 1976.04 -1952.80 69.58 12.87 7.16, + 2152.03 -1868.70 18.98 13.81 21.50, + 2131.68 -2395.14 94.98 18.93 6.50, + 1932.13 -2342.70 44.03 16.41 20.02, + 1891.59 -2015.54 49.01 12.68 5.87, + 2157.35 -1926.46 72.34 14.40 20.44, + 1940.14 -2236.64 48.91 15.34 15.21, + 2074.67 -2068.86 15.59 14.90 1.37, + 2182.59 -1994.49 38.46 15.28 14.01, + 2035.46 -2383.00 97.61 17.85 11.37, + 2062.92 -1943.44 5.53 13.60 9.06, + 2143.47 -2369.98 3.53 18.74 8.87, + 1975.82 -2022.76 0.91 13.51 3.36, + 2169.59 -2238.13 70.48 17.59 0.09, + 1959.37 -1984.46 65.23 13.01 3.06, + 2125.91 -1978.83 57.46 14.56 13.58, + 2073.69 -2189.09 72.04 16.11 2.45, + 2164.39 -1850.45 67.68 13.79 27.21, + 1993.00 -2305.46 42.33 16.57 14.49, + 1886.33 -2297.36 40.03 15.50 22.41, + 2180.10 -2236.49 51.51 17.67 0.23, + 2168.05 -2156.33 89.39 16.73 5.32, + 1859.06 -2284.40 33.50 15.12 24.62, + 2152.42 -2238.49 43.82 17.41 2.04, + 2056.43 -2264.91 64.63 16.74 7.55, + 1972.78 -2371.32 10.79 17.10 19.48, + 2047.84 -2117.23 94.74 15.14 1.59, + 1912.42 -1867.88 75.71 11.52 10.31, + 2114.40 -2195.97 67.84 16.59 0.73, + 1922.98 -1810.63 82.20 11.12 17.17, + 1978.81 -1869.39 53.44 12.14 13.32, + 1890.44 -2348.77 37.42 16.10 23.82, + 1875.01 -1879.33 1.18 11.27 0.27, + 1910.49 -1864.52 48.43 11.46 8.13, + 2022.58 -2291.46 81.46 16.71 9.89, + 1966.60 -2094.87 50.19 14.13 5.40, + 1867.84 -1990.99 20.77 12.23 8.31, + 2162.72 -2128.11 30.37 16.37 3.56, + 1841.27 -2363.72 65.78 15.84 26.60, + 1850.43 -2185.47 59.23 14.00 19.29, + 1998.18 -2111.10 27.98 14.58 5.63, + 2104.19 -1907.16 71.31 13.69 19.30, + 2193.90 -2155.45 62.76 16.98 5.16, + 2174.00 -2333.87 28.89 18.66 5.28, + 2073.78 -2345.29 41.79 17.78 10.55, + 1953.28 -2339.91 27.99 16.57 19.22, + 2099.91 -1912.70 86.35 13.70 19.66, + 1947.47 -2134.38 13.83 14.34 11.73, + 1917.66 -2390.36 95.67 16.83 19.59, + 1892.90 -1818.16 28.68 10.90 9.27, + 2033.80 -2031.73 53.86 14.15 3.86, + 1897.77 -2226.86 47.18 14.85 18.19, + 1860.96 -2174.49 18.07 13.97 20.71, + 2092.86 -1916.13 87.35 13.66 19.04, + 1850.19 -2065.35 91.00 12.81 9.63, + 2117.39 -2039.40 82.70 15.06 10.16, + 1865.64 -1887.45 98.14 11.28 6.66, + 2098.03 -2382.58 85.73 18.45 8.28, + 1829.81 -2107.28 58.41 13.03 16.67, + 2180.04 -2283.42 65.98 18.18 1.62, + 1821.01 -2393.21 67.94 16.00 28.87, + 2008.63 -2176.67 11.85 15.35 9.59, + 1870.48 -2232.19 3.40 14.66 23.56, + 1896.02 -1872.55 69.12 11.41 8.00, + 2119.12 -2241.19 60.28 17.11 3.10, + 2093.06 -2123.65 84.86 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-1848.93 96.52 12.35 21.44, + 1870.31 -1807.71 31.25 10.61 8.59, + 2062.24 -1988.60 94.26 14.03 11.71, + 2183.21 -2057.71 28.58 15.89 8.93, + 2022.57 -2227.84 36.81 16.01 9.63, + 1932.90 -2181.94 18.30 14.70 15.12, + 1914.78 -2368.86 18.19 16.54 23.45, + 2054.98 -2335.38 83.63 17.50 9.39, + 1843.03 -2396.39 38.72 16.22 28.74, + 1838.26 -2298.60 47.09 15.09 26.04, + 2180.73 -2053.44 12.97 15.82 8.19, + 1908.72 -2106.93 22.20 13.72 12.63, + 2121.33 -2083.09 31.56 15.51 4.21, + 2041.19 -2310.13 62.08 17.08 10.42, + 2088.58 -1860.71 82.62 13.12 23.45, + 1888.59 -2198.91 13.72 14.47 19.86, + 2033.13 -1831.64 9.18 12.31 17.00, + 1919.58 -2352.11 94.35 16.42 18.46, + 2078.12 -2162.87 29.51 15.88 3.20, + 1966.33 -1821.31 87.13 11.61 19.77, + 1833.08 -2194.29 56.91 13.94 21.40, + 1862.91 -2270.29 43.14 15.00 23.16, + 1877.20 -2172.78 48.25 14.11 17.13, + 2061.45 -2047.59 39.38 14.57 3.53, + 2057.89 -2371.27 43.57 17.91 12.16, + 2049.07 -2305.55 16.38 17.10 12.06, + 1844.03 -1821.36 13.09 10.49 3.30, + 2087.42 -1870.47 64.70 13.19 21.15, + 2114.16 -2187.77 59.39 16.50 0.77, + 1824.65 -2335.89 92.28 15.40 25.58, + 1899.32 -1852.64 12.34 11.25 5.16, + 1933.09 -2236.70 55.92 15.28 15.32, + 1894.96 -2343.60 23.53 16.08 24.11, + 2161.56 -2041.24 6.59 15.50 7.66, + 1916.30 -1894.40 84.50 11.79 8.94, + 2117.53 -2171.43 60.34 16.36 0.35, + 1894.46 -1823.18 24.90 10.96 8.59, + 2031.09 -1863.26 2.69 12.57 13.48, + 1972.50 -2106.82 43.97 14.30 6.14, + 1937.49 -1819.57 63.62 11.32 15.79, + 2069.35 -2361.86 49.78 17.92 10.92, + 1953.23 -2360.25 56.94 16.80 18.25, + 2046.21 -2126.49 85.82 15.21 0.34, + 1990.68 -2044.95 81.34 13.88 1.91, + 2194.42 -2270.38 19.03 18.18 2.47, + 1934.79 -2187.20 68.44 14.78 11.96, + 2079.27 -1843.86 95.06 12.89 25.45, + 2027.55 -2302.02 28.21 16.85 12.76, + 2054.37 -2139.31 62.79 15.41 1.35, + 1957.39 -2206.73 24.57 15.18 14.04, + 2193.87 -2323.33 15.34 18.74 4.54, + 2087.45 -1933.61 19.70 13.75 12.41, + 2020.31 -2077.02 67.71 14.47 0.74, + 1871.07 -2096.12 63.59 13.28 12.03, + 1948.90 -2181.20 59.08 14.84 11.19, + 1878.19 -2048.30 11.28 12.87 12.25, + 2120.14 -2001.66 79.97 14.72 12.97, + 1992.93 -2202.56 72.17 15.48 8.32, + 2165.61 -2118.77 75.98 16.32 6.78, + 2034.30 -2389.43 39.36 17.89 14.28, + 2017.58 -2138.45 64.44 15.05 3.57, + 1864.93 -2171.40 88.32 14.00 15.27, + 2167.39 -2226.13 95.28 17.45 1.75, + 2112.54 -2082.05 87.97 15.42 7.21, + 1826.49 -1812.64 94.91 10.29 10.18, + 1883.70 -2320.53 79.78 15.74 21.02, + 2030.06 -1853.48 48.31 12.48 17.90, + 1920.95 -1835.82 19.81 11.30 9.14, + 2114.78 -2383.79 82.47 18.63 7.56, + 1802.56 -2160.30 92.28 13.34 19.68, + 2058.45 -1855.38 83.43 12.78 22.26, + 1984.13 -2345.65 32.25 16.92 16.91, + 1955.80 -2120.56 49.23 14.29 7.87, + 1904.66 -2181.88 69.25 14.45 13.95, + 2174.82 -1990.60 13.58 15.16 12.38, + 1950.22 -1990.94 68.25 12.98 2.10, + 2039.44 -1969.08 37.68 13.61 7.82, + 2054.09 -2034.46 8.64 14.37 1.91, + 2177.76 -1892.96 96.46 14.31 25.91, + 1893.81 -2308.39 0.48 15.68 24.53, + 1811.48 -1841.19 33.21 10.39 0.33, + 2171.64 -1816.30 11.80 13.56 26.71, + 2181.26 -1842.00 20.17 13.88 25.42, + 2031.79 -2118.21 0.92 14.97 5.45, + 1842.71 -2112.41 75.39 13.20 14.58, + 1930.16 -2223.20 79.25 15.11 13.44, + 2109.98 -2366.50 12.20 18.37 10.30, + 2162.85 -2314.08 55.36 18.33 4.07, + 2123.09 -2025.76 51.42 14.97 9.49, + 2075.59 -2085.27 88.18 15.09 4.95, + 1997.15 -2303.51 94.72 16.60 11.30, + 1940.67 -2364.22 15.86 16.72 21.45, + 2140.52 -1856.67 76.50 13.60 26.11, + 1964.54 -2129.64 90.00 14.47 5.03, + 1853.20 -2046.27 3.83 12.63 14.89, + 2167.01 -1869.31 71.41 13.98 25.86, + 2048.24 -2050.17 69.78 14.47 4.54, + 2083.26 -2099.75 52.15 15.30 2.20, + 1887.96 -1905.12 91.22 11.64 6.29, + 1963.02 -2033.97 52.24 13.51 1.37, + 2085.83 -1860.06 44.43 13.08 20.48, + 2146.41 -1960.51 74.64 14.60 17.23, + 2147.15 -1979.62 84.49 14.79 16.37, + 1841.62 -2180.61 93.65 13.89 17.33, + 1851.06 -2342.38 43.89 15.68 26.51, + 2121.97 -2170.22 98.07 16.41 2.72, + 1991.84 -2371.56 61.90 17.29 15.58, + 2090.51 -1911.46 81.57 13.59 18.90, + 1976.06 -1804.67 6.71 11.54 15.24, + 1969.60 -1864.52 58.36 12.01 13.50, + 2184.32 -1819.86 82.05 13.73 31.99, + 1987.54 -1845.86 39.92 12.01 15.00, + 1941.24 -1880.82 70.16 11.89 10.88, + 2165.58 -1861.86 2.22 13.89 21.61, + 1819.33 -2164.06 40.84 13.51 22.21, + 1983.94 -2193.23 45.55 15.29 10.11, + 1895.73 -2285.06 81.47 15.46 18.67, + 2129.31 -2130.57 53.04 16.06 2.94, + 1946.79 -2107.31 0.90 14.07 11.10, + 1818.82 -1910.82 32.89 11.07 5.24, + 2004.89 -1815.83 41.22 11.91 19.16, + 2143.94 -2010.82 95.62 15.05 14.47, + 1959.49 -1875.04 48.75 12.00 11.01, + 1945.41 -1872.50 17.71 11.85 7.58, + 1908.48 -2340.46 85.62 16.18 19.42, + 2012.69 -2121.31 52.58 14.83 3.62, + 1912.42 -1941.81 89.12 12.19 4.87, + 2156.72 -1990.64 55.39 14.98 14.11, + 1895.95 -1821.06 4.73 10.95 7.11, + 2000.39 -2046.94 80.34 13.99 2.37, + 1919.74 -2224.60 7.63 15.02 18.86, + 2181.78 -1881.11 49.16 14.23 23.95, + 1946.80 -2207.44 54.98 15.09 12.95, + 1866.89 -1804.22 92.12 10.57 14.21, + 1823.41 -2261.73 42.81 14.57 26.24, + 1997.86 -2149.82 98.87 14.99 3.38, + 2188.86 -2174.43 90.19 17.13 5.24, + 2015.24 -2233.29 4.71 16.00 12.21, + 1888.37 -2261.28 80.45 15.14 18.33, + 1964.92 -2179.11 96.91 14.98 7.47, + 2184.85 -2297.81 63.07 18.38 2.10, + 1872.69 -2281.14 62.49 15.21 21.54, + 2152.47 -2224.96 36.82 17.27 1.75, + 1926.08 -2378.63 33.23 16.75 21.99, + 1838.27 -2343.00 64.72 15.58 26.35, + 2171.79 -1989.03 77.66 15.13 16.35, + 2110.03 -2171.86 78.78 16.30 0.94, + 1934.00 -2228.06 46.19 15.19 15.46, + 2101.10 -2319.59 30.70 17.76 8.64, + 1856.82 -1879.17 79.69 11.12 5.06 \ No newline at end of file diff --git a/src/Simulators/CTD/OctoTree.cpp b/src/Simulators/CTD/OctoTree.cpp index bf2d5f364d..5a9dbb6bde 100644 --- a/src/Simulators/CTD/OctoTree.cpp +++ b/src/Simulators/CTD/OctoTree.cpp @@ -62,19 +62,19 @@ namespace Simulators leaf = true; } - OctoTree::Node::Node(Node* parent, double x, double y, double z, double val) + OctoTree::Node::Node(Node* parent, double x, double y, double z, double temp, double cond) { myRoot = parent; - data = new Item(x, y, z, val); + item = new Item(x, y, z, temp, cond); childs.assign(8,nullptr); lim = Bounds(x, y, z); leaf = true; } - OctoTree::Node::Node(Node* parent, Item *_data, Bounds oct) + OctoTree::Node::Node(Node* parent, Item* _data, Bounds oct) { myRoot = parent; - data = _data; + item = _data; childs.assign(8,nullptr); lim = oct; leaf = true; @@ -83,7 +83,7 @@ namespace Simulators OctoTree::Node::~Node() { - delete data; + delete item; if (!leaf) { for (int i = 0; i < 8; i++) @@ -91,25 +91,26 @@ namespace Simulators } } - OctoTree::Node* OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* new_data) + OctoTree::Node* + OctoTree::new_root(Node* child, const Bounds& prev_volume, Item* new_data) { Node* n_root = new Node(nullptr, nullptr, child->lim); n_root->leaf = false; - n_root->expandeBounds(*new_data); + n_root->expandsBounds(*new_data); - int pos = n_root->getOctante(prev_volume); + int pos = n_root->getOctant(prev_volume); // when expanding if prev point is in the bounds of its node - // it may be insered in the "wrong" octante because this point will collide with new bounds mid point + // it may be inserted in the "wrong" octant because this point will collide with new bounds mid point // the default is to insert the midpoints in the lower volume Ex: Bounds of z:[-1, 1] and new point is z = 0 -> inserting in Q5-8 - if (child->data != nullptr) + if (child->item != nullptr) { - int pos_data = n_root->getOctante(*child->data); + int pos_data = n_root->getOctant(*child->item); if (pos != pos_data) { - n_root->insert_data(child->data); - child->data = nullptr; + n_root->insert_data(child->item); + child->item = nullptr; } } n_root->childs[pos] = child; @@ -118,7 +119,7 @@ namespace Simulators if(n_root->isOutBounds(*new_data)) return new_root(n_root, prev_volume, new_data); - n_root->data = new_data; + n_root->item = new_data; if (child->lim.max_x == child->lim.min_x) child->lim = n_root->getOctoBounds(pos); @@ -126,7 +127,8 @@ namespace Simulators return n_root; } - void OctoTree::Node::expandeBounds(const Item& val) + void + OctoTree::Node::expandsBounds(const Item& val) { double length = lim.max_x-lim.min_x; if (length == 0) @@ -167,7 +169,8 @@ namespace Simulators lim.min_z = mid_z - length; } - bool OctoTree::Node::isOutBounds(const Item& val) + bool + OctoTree::Node::isOutBounds(const Item& val) { if (lim.min_x > val.x || val.x > lim.max_x) @@ -180,9 +183,10 @@ namespace Simulators return false; } - int OctoTree::Node::insert_data(Item *val) + int + OctoTree::Node::insert_data(Item* val) { - int pos = getOctante(*val); + int pos = getOctant(*val); if (childs[pos] == nullptr) { @@ -190,16 +194,17 @@ namespace Simulators childs[pos] = new Node(this, val, getOctoBounds(pos)); return 0; } - else if (childs[pos]->data == nullptr) + else if (childs[pos]->item == nullptr) { - childs[pos]->data = val; + childs[pos]->item = val; return 0; } return childs[pos]->insert_data(val)+1; } - int OctoTree::Node::getOctante(const Bounds &volume) + int + OctoTree::Node::getOctant(const Bounds& volume) { double mp_x, mp_y, mp_z; mp_x = lim.getMidpoint('x'); @@ -249,7 +254,8 @@ namespace Simulators return -1; } - int OctoTree::Node::getOctante(const Item& val) + int + OctoTree::Node::getOctant(const Item& val) { if (isOutBounds(val)) @@ -297,7 +303,8 @@ namespace Simulators return -1;// never utilized } - int OctoTree::Node::getOctante(double x, double y, double z) + int + OctoTree::Node::getOctant(double x, double y, double z) { double mp_x, mp_y, mp_z; mp_x = lim.getMidpoint('x'); @@ -341,7 +348,8 @@ namespace Simulators return -1;// never utilized } - OctoTree::Bounds OctoTree::Node::getOctoBounds(int oct) + OctoTree::Bounds + OctoTree::Node::getOctoBounds(int oct) { Bounds res = lim; double mp_x, mp_y, mp_z; @@ -397,32 +405,32 @@ namespace Simulators return res; } - double OctoTree::Node::search(double x, double y, double z) + OctoTree::Data + OctoTree::Node::search(double x, double y, double z) { - if (data->x == x && data->y == y && data->z == z) - return data->value; + if (item->x == x && item->y == y && item->z == z) + return item->val; - int pos = getOctante(x, y, z); + int pos = getOctant(x, y, z); if (childs[pos] == nullptr) - throw ERR_INVAILD_POINT; + throw ERR_INVALID_POINT; return childs[pos]->search(x, y, z); } - int OctoTree::Node::search_vol(const Bounds &vol, std::vector &points) + int OctoTree::Node::search_vol(const Bounds& vol, std::vector& points) { if (inside_vol(vol)) - return add_item(points); + return add_data(points); int res = 1; if (item_inside(vol)) - { - points.push_back(data); - } - //comparação com octantes - int o_max = getOctante(vol.max_x, vol.max_y, vol.max_z); - int o_min = getOctante(vol.min_x, vol.min_y, vol.min_z); + points.push_back(item->val); + + //comparison with octants + int o_max = getOctant(vol.max_x, vol.max_y, vol.max_z); + int o_min = getOctant(vol.min_x, vol.min_y, vol.min_z); if (o_max == o_min) return res + search_child(vol, points, o_max); @@ -509,26 +517,29 @@ namespace Simulators return res; } - int OctoTree::Node::search_child(const Bounds &vol, std::vector &points, int oct) + int + OctoTree::Node::search_child(const Bounds& vol, std::vector& points, int oct) { return (childs[oct] == nullptr ? 0 : childs[oct]->search_vol(vol, points) ); } - bool OctoTree::Node::item_inside(const Bounds &vol) + bool + OctoTree::Node::item_inside(const Bounds& vol) { - if (data == nullptr) + if (item == nullptr) return false; - if (vol.min_x > data->x || data->x > vol.max_x) + if (vol.min_x > item->x || item->x > vol.max_x) return false; - if (vol.min_y > data->y || data->y > vol.max_y) + if (vol.min_y > item->y || item->y > vol.max_y) return false; - if (vol.min_z > data->z || data->z > vol.max_z) + if (vol.min_z > item->z || item->z > vol.max_z) return false; return true; } - bool OctoTree::Node::inside_vol(const Bounds &vol) + bool + OctoTree::Node::inside_vol(const Bounds& vol) { if (vol.min_x > lim.min_x || vol.max_x < lim.max_x) return false; @@ -540,10 +551,11 @@ namespace Simulators return true; } - int OctoTree::Node::add_item(std::vector &points) + int + OctoTree::Node::add_item(std::vector& points) { - if (data!= nullptr) - points.push_back(data); + if (item!= nullptr) + points.push_back(item); int res = 1; for (int i = 0; i < 8; i++) @@ -554,7 +566,23 @@ namespace Simulators return res; } - int OctoTree::Node::number_nodes() + int + OctoTree::Node::add_data(std::vector& points) + { + if (item!= nullptr) + points.push_back(item->val); + + int res = 1; + for (int i = 0; i < 8; i++) + { + if (childs[i] != nullptr) + res += childs[i]->add_data(points); + } + return res; + } + + int + OctoTree::Node::number_nodes() { if (leaf) return 1; @@ -567,21 +595,22 @@ namespace Simulators return res; } - int OctoTree::Node::remove_dat(const Item& val) + int + OctoTree::Node::remove_dat(const Item& val) { if (isOutBounds(val)) return -1; - if (data != nullptr) + if (item != nullptr) { - if (val.x == data->x && val.y == data->y && val.z == data->z && val.value == data->value) + if (val.x == item->x && val.y == item->y && val.z == item->z && val.val.temp == item->val.temp && val.val.cond == item->val.cond) { - delete data; - data = nullptr; + delete item; + item = nullptr; return 1; } } - int pos = getOctante(val); + int pos = getOctant(val); if (childs[pos] != nullptr) return childs[pos]->remove_dat(val); @@ -589,25 +618,31 @@ namespace Simulators return 0; } - OctoTree::OctoTree(std::string& dir) + OctoTree::OctoTree(std::vector& item) { root = nullptr; - path = dir; + for (unsigned i = 0; i < item.size(); i++) + { + std::vector values; + DUNE::Utils::String::split(item[i], " ", values); + add(values[0], values[1], values[2], values[3], values[4]); + } } - OctoTree::OctoTree(double x, double y, double z, double val) + OctoTree::OctoTree(double x, double y, double z, double temp, double cond) { - root = new Node(nullptr, x, y, z, val); + root = new Node(nullptr, x, y, z, temp, cond); } - int OctoTree::add(double x, double y, double z, double v) + int + OctoTree::add(double x, double y, double z, double temp, double cond) { if (root == nullptr) { - root = new Node(nullptr, x, y, z, v); + root = new Node(nullptr, x, y, z, temp, cond); return 1; } - Item* point = new Item(x, y, z, v); + Item* point = new Item(x, y, z, temp, cond); if(root->isOutBounds(*point)) { root = new_root(root, root->lim, point); @@ -621,17 +656,20 @@ namespace Simulators delete root; } - int OctoTree::remove_data(const Item& val) + int + OctoTree::remove_data(const Item& val) { return root->remove_dat(val); } - int OctoTree::search(const Bounds &vol, std::vector &points) + int + OctoTree::search(const Bounds& vol, std::vector& points) { return root->search_vol(vol, points); } - int OctoTree::size() + int + OctoTree::size() { if (root == nullptr) return 0; @@ -639,12 +677,14 @@ namespace Simulators return root->number_nodes(); } - double OctoTree::search_data(double x, double y, double z) + OctoTree::Data + OctoTree::search_data(double x, double y, double z) { return root->search(x, y, z); } - void OctoTree::printTree() + void + OctoTree::printTree() { std::ofstream logFile; std::string logPath = path; @@ -669,7 +709,8 @@ namespace Simulators logFile.close(); } - bool OctoTree::testTree() + bool + OctoTree::testTree() { std::vector points; root->add_item(points); @@ -690,19 +731,20 @@ namespace Simulators } for (long unsigned int i = 0; i < points.size(); i++) { - testFile << "Point " << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->value << "\n"; + testFile << "Point " << points[i]->x << " " << points[i]->y << " " << points[i]->z << " " << points[i]->val.temp << " " << points[i]->val.cond << "\n"; search_data(points[i]->x, points[i]->y, points[i]->z); } testFile.close(); return root->testNode(); } - void OctoTree::Node::printNode(int dept, std::ostream& file) + void + OctoTree::Node::printNode(int dept, std::ostream& file) { file << "At dept(" << dept << ") leaf:" << leaf << "\n"; file << "my root is:" << myRoot << "\tmy address:" << this << "\n"; - if (data != nullptr) - file << "Point:\tx:" << data->x << "\t y: " << data->y << "\t z:" << data->z << "\tvalue:" << data->value << "\n"; + if (item != nullptr) + file << "Point:\tx:" << item->x << "\t y: " << item->y << "\t z:" << item->z << "\tvalue:" << item->val.temp << " " << item->val.cond << "\n"; else file << "Don't have Point\n"; @@ -725,10 +767,11 @@ namespace Simulators } } - int OctoTree::Node::testNode() + int + OctoTree::Node::testNode() { int sta = 0; - if (isOutBounds(*data)) + if (isOutBounds(*item)) throw ERR_INVALID_BOUNDS; Bounds aux; for (int i = 0; i < 8; i++) @@ -748,16 +791,17 @@ namespace Simulators return sta; } - void OctoTree::print_error(int e) + void + OctoTree::print_error(int e) { - std::cerr << "Error encoutered id: " << e << '\n'; + std::cerr << "Error encountered id: " << e << '\n'; switch (e) { case ERR_INVALID_BOUNDS: std::cerr << "INVALID_BOUNDS error" << '\n'; break; - case ERR_INVAILD_POINT: - std::cerr << "INVAILD_POINT error" << '\n'; + case ERR_INVALID_POINT: + std::cerr << "INVALID_POINT error" << '\n'; break; case ERR_INVALID_INSERT_POINT: std::cerr << "INVALID_INSERT_POINT error" << '\n'; diff --git a/src/Simulators/CTD/OctoTree.hpp b/src/Simulators/CTD/OctoTree.hpp index a3222ea5fe..9f1cab0738 100644 --- a/src/Simulators/CTD/OctoTree.hpp +++ b/src/Simulators/CTD/OctoTree.hpp @@ -28,6 +28,8 @@ #ifndef SIMULATORS_CTD_OCTO_TREE_HPP_INCLUDED_ #define SIMULATORS_CTD_OCTO_TREE_HPP_INCLUDED_ +// TODO: Use Data struct as pointers + // DUNE headers. #include @@ -48,17 +50,25 @@ namespace Simulators //! Errors enum { - ERR_INVALID_BOUNDS, ERR_INVAILD_POINT, ERR_INVALID_INSERT_POINT + ERR_INVALID_BOUNDS, ERR_INVALID_POINT, ERR_INVALID_INSERT_POINT }; + //! Data structure + struct Data + { + double temp, cond; + }; + //! Item structure struct Item { - double x, y, z, value; + double x, y, z; + Data val; - Item(double _x, double _y, double _z, double _v): - x(_x), y(_y), z(_z), value(_v) - { } + Item(double _x, double _y, double _z, double _temp, double _cond): + x(_x), y(_y), z(_z) + { val.temp = _temp; + val.cond = _cond;} }; @@ -80,6 +90,11 @@ namespace Simulators //! Create a new Bounds object Bounds(double _min_x, double _max_x, double _min_y, double _max_y, double _min_z, double _max_z); + + //! Create a new Bounds object around one point + Bounds(double x, double y, double z, double radius): + max_x(x+radius), max_y(y+radius), max_z(z+radius), min_x(x-radius), min_y(y-radius), min_z(z-radius) + { }; //! Return the bounds midpoint correspondent to the axis double @@ -92,13 +107,13 @@ namespace Simulators Node* myRoot; std::vector childs; Bounds lim; - Item* data; + Item* item; //! Creates a new Node object with variables null Node(); //! Creates a new Node object - Node(Node* parent, double x, double y, double z, double val); + Node(Node* parent, double x, double y, double z, double temp, double cond); //! Creates a new Node object Node(Node* parent, Item* _data, Bounds oct); @@ -106,9 +121,9 @@ namespace Simulators //! Node Destructor ~Node(); - //! Expandes node bounds in val direction + //! Expands node bounds in val direction void - expandeBounds(const Item& val); + expandsBounds(const Item& val); //! Checks if item is outside Node bounds bool @@ -119,54 +134,59 @@ namespace Simulators int insert_data(Item *val); - //! @return octante of midpoint of volume + //! @return octant of midpoint of volume //! @warning volume midpoint must be inside Node bounds int - getOctante(const Bounds& volume); + getOctant(const Bounds& volume); - //! @return octante that corresponds to the Item + //! @return octant that corresponds to the Item //! @exception INVALID_INSERT_POINT if Item is out of bounds int - getOctante(const Item& val); + getOctant(const Item& val); - //! @return Octante that corresponds to the point (x,y,z) + //! @return Octant that corresponds to the point (x,y,z) //! @warning Item must be inside Node bounds int - getOctante(double x, double y, double z); + getOctant(double x, double y, double z); - //! @return Octante Bounds object correspondent the oct + //! @return Octant Bounds object correspondent the oct Bounds getOctoBounds(int oct); //! Search the tree for the point (x,y,z) //! @return value stored in the point //! @exception Throws INVALID_POINT if the point doesn't exist - double + Data search(double x, double y, double z); //! Searches for points inside Bounds volume //! Points inside are added to vector //! Returns number of iterations int - search_vol(const Bounds& vol, std::vector& points); + search_vol(const Bounds& vol, std::vector& points); //! Search_vol of child Node if not nullptr int - search_child(const Bounds& vol, std::vector& points, int oct); + search_child(const Bounds& vol, std::vector& points, int oct); //! Checks if this node item is inside Bounds vol bool item_inside(const Bounds& vol); - //! Checks if Node bounds is inside volumne + //! Checks if Node bounds is inside volume bool inside_vol(const Bounds& vol); - //! Add all itens in this node and his childs to vector + //! Add all items in this node and his childs to vector //! @return number of iterations int add_item(std::vector& points); + //! Add all data in this node and his childs to vector + //! @return number of iterations + int + add_data(std::vector &points); + //! Returns number of nodes int number_nodes(); @@ -189,15 +209,15 @@ namespace Simulators //! Creates a new root to insert new_data //! @return New Node root with bounds expanded and new_data inserted as root data - //! @warning This may create nodes will data = nullptr if it expandes more than once + //! @warning This may create nodes will data = nullptr if it expands more than once Node* new_root(Node* child, const Bounds& prev_volume, Item* new_data); //! - OctoTree(std::string& dir); + OctoTree(std::vector& data); //! - OctoTree(double x, double y, double z, double val); + OctoTree(double x, double y, double z, double temp, double cond); //! ~OctoTree(); @@ -205,19 +225,19 @@ namespace Simulators //! Add point to tree //! @return dept of point int - add(double x, double y, double z, double v); + add(double x, double y, double z, double temp, double cond); //! Search the tree for the point (x,y,z) //! @return value stored in the point //! @exception INVALID_POINT if the point doesn't exist - double + Data search_data(double x, double y, double z); //! Searches for points inside Bounds volume //! Points inside are added to vector //! Returns number of iterations int - search(const Bounds& vol, std::vector& points); + search(const Bounds& vol, std::vector& points); //! Returns number of nodes inside tree int @@ -232,7 +252,7 @@ namespace Simulators void printTree(); - //! Prints all points in tree to file ../OctoTree Files/OctoTree_teste.txt + //! Prints all points in tree to file ../OctoTree Files/OctoTree_test.txt //! Searches for each point in Tree //! Returns result of testNode() bool @@ -244,8 +264,8 @@ namespace Simulators private: Node* root; // Node pointer - std::string path; // Path to Tree files - std::string log = "OctoTree_log.txt"; // Tree log file + std::string path = "OctoTree_Files"; // Path to Tree files + std::string log = "OctoTree_log.txt"; // Tree log file std::string test = "OctoTree_test.txt"; // Tree test file }; } diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index 551106d021..ac10297b00 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -62,7 +62,9 @@ namespace Simulators //! PRNG seed. int prng_seed; //! OctoTree path - std::string o_path; + std::string otree_path; + //! Search radius + double s_radius; }; //! %SVS simulator task. @@ -86,6 +88,14 @@ namespace Simulators Arguments m_args; //! OctoTree OctoTree* m_otree; + //! Reference latitude + double m_lat; + //! Reference longitude + double m_long; + //! North offset + double n_offset = 0; + //! East offset + double e_offset = 0; Task(const std::string& name, Tasks::Context& ctx): Tasks::Periodic(name, ctx), @@ -115,9 +125,14 @@ namespace Simulators .description("Random seed to use to random generator.") .defaultValue("-1"); - param("OctoTree Path", m_args.o_path) - .description("Path to OctoTree debug files.") - .defaultValue("OctoTree_Files"); + param("OctoTree Path", m_args.otree_path) + .description("Path to OctoTree data file.") + .defaultValue("ocTree.ini"); + + param("Search radius", m_args.s_radius) + .description("Radius to search around estimated state") + .units(Units::Meter) + .defaultValue("5.0"); // Register consumers. bind(this); @@ -129,7 +144,18 @@ namespace Simulators void onResourceInitialization(void) { - m_otree = new OctoTree(m_args.o_path); + Path path = m_ctx.dir_cfg / "simulation" / m_args.otree_path; + DUNE::Parsers::Config conf(path.c_str()); + + std::vector data; + conf.get("ocTree", "3D_Data", "", data); + conf.get("ocTree", "Latitude (degrees)", "", m_lat); + conf.get("ocTree", "Longitude (degrees)", "", m_long); + + m_lat = m_lat; + m_long = m_long; + + m_otree = new OctoTree(data); inf("Created ocTree"); requestDeactivation(); } @@ -161,7 +187,12 @@ namespace Simulators requestActivation(); } m_sstate = *msg; - m_otree->add(msg->x, msg->y, msg->z, m_otree->size()+1 ); + + if (m_sstate.lat != m_lat) + { + WGS84::displacement(m_lat, m_long, 0, msg->lat, msg->lon, 0, &n_offset, &e_offset); + m_lat = m_sstate.lat; + } } //! If active, computes all values using random value generators and dispatches: @@ -178,14 +209,35 @@ namespace Simulators if (!isActive()) return; + OctoTree::Bounds vol(m_sstate.x-n_offset, m_sstate.y-e_offset, m_sstate.z, m_args.s_radius); + std::vector values; + int inter = m_otree->search(vol, values); + inf("Found %ld points", values.size()); + + double avg_temp = 0, avg_cond = 0; + + for (size_t i = 0; i < values.size(); i++) + { + avg_temp += values[i].temp; + avg_cond += values[i].cond; + + if(i < values.size()-1) + { + avg_temp = avg_temp/(double)values.size(); + avg_cond = avg_cond/(double)values.size(); + } + } + m_temp.setTimeStamp(); - m_temp.value = m_args.mean_temp + m_prng->gaussian() * m_args.std_dev_temp; + m_temp.value = avg_temp; m_cond.setTimeStamp(m_temp.getTimeStamp()); - m_cond.value = m_args.mean_cond + m_prng->gaussian() * m_args.std_dev_cond; + m_cond.value = avg_cond; + + inf("Temp is %lf, cond is %lf", avg_temp, avg_cond); m_depth.setTimeStamp(m_temp.getTimeStamp()); - m_depth.value = std::max(m_sstate.z + m_prng->gaussian() * m_args.std_dev_depth, 0.0); + m_depth.value = std::max(m_sstate.z + m_prng->gaussian() * m_args.std_dev_depth, 0.0); // = m_sstate.z ? // Compute pressure. m_pressure.setTimeStamp(m_temp.getTimeStamp()); @@ -203,12 +255,6 @@ namespace Simulators dispatch(m_pressure, DF_KEEP_TIME); dispatch(m_salinity, DF_KEEP_TIME); dispatch(m_sspeed, DF_KEEP_TIME); - inf("Tree has: %d nodes", m_otree->size()); - m_otree->printTree(); - if (!m_otree->testTree()) - inf("Tree is \'ok\'"); - else - inf("Tree error"); } }; } From 2e6f2b92de5202034ae166c7d020e107628e70d7 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Mon, 27 Feb 2023 16:20:38 +0000 Subject: [PATCH 13/15] Todo --- etc/simulation/ocTree.ini | 7 ++++--- src/Simulators/CTD/Task.cpp | 10 +++++++--- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/etc/simulation/ocTree.ini b/etc/simulation/ocTree.ini index 9277e0318d..709f5f3e2c 100644 --- a/etc/simulation/ocTree.ini +++ b/etc/simulation/ocTree.ini @@ -29,10 +29,11 @@ [ocTree] -Latitude (degrees) = 41.159804 -Longitude (degrees) = -8.693256 +Latitude (degrees) = 0.71881387 +Longitude (degrees) = -0.15195186 -3D_Data = 2136.08 -2170.77 10.19 16.53 1.32, +3D_Data = 0 0 0 2 3, + 2136.08 -2170.77 10.19 16.53 1.32, 1957.75 -2241.01 10.76 15.54 16.39, 2113.24 -2398.86 51.67 18.77 9.26, 2119.38 -1931.53 97.68 14.07 19.85, diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index ac10297b00..801eba86f3 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -155,6 +155,9 @@ namespace Simulators m_lat = m_lat; m_long = m_long; + //m_lat = Angles::radians(m_lat); + //m_long = Angles::radians(m_long); + m_otree = new OctoTree(data); inf("Created ocTree"); requestDeactivation(); @@ -188,10 +191,11 @@ namespace Simulators } m_sstate = *msg; - if (m_sstate.lat != m_lat) + if (m_sstate.lat != m_lat && m_sstate.lon != m_long) { WGS84::displacement(m_lat, m_long, 0, msg->lat, msg->lon, 0, &n_offset, &e_offset); m_lat = m_sstate.lat; + m_long = m_sstate.lon; } } @@ -233,11 +237,11 @@ namespace Simulators m_cond.setTimeStamp(m_temp.getTimeStamp()); m_cond.value = avg_cond; - + // TODO: if 0 revert commit inf("Temp is %lf, cond is %lf", avg_temp, avg_cond); m_depth.setTimeStamp(m_temp.getTimeStamp()); - m_depth.value = std::max(m_sstate.z + m_prng->gaussian() * m_args.std_dev_depth, 0.0); // = m_sstate.z ? + m_depth.value = std::max(m_sstate.z + m_prng->gaussian() * m_args.std_dev_depth, 0.0); // Compute pressure. m_pressure.setTimeStamp(m_temp.getTimeStamp()); From 097336e01ea8fd5638bf8f1a8e36f70e8bd22f83 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Tue, 28 Feb 2023 16:03:07 +0000 Subject: [PATCH 14/15] Added temp/cond values if data not found in oTree --- src/Simulators/CTD/Task.cpp | 37 +++++++++++++++++++------------------ 1 file changed, 19 insertions(+), 18 deletions(-) diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index 801eba86f3..89f4932866 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -216,29 +216,30 @@ namespace Simulators OctoTree::Bounds vol(m_sstate.x-n_offset, m_sstate.y-e_offset, m_sstate.z, m_args.s_radius); std::vector values; int inter = m_otree->search(vol, values); - inf("Found %ld points", values.size()); double avg_temp = 0, avg_cond = 0; + for (uint32_t i = 0; i < values.size(); i++) + { + avg_temp += (values[i].temp - avg_temp)/(double)(i+1); + avg_cond += (values[i].cond - avg_cond)/(double)(i+1); + } + + if (values.size()) + { + m_temp.setTimeStamp(); + m_temp.value = avg_temp; - for (size_t i = 0; i < values.size(); i++) + m_cond.setTimeStamp(m_temp.getTimeStamp()); + m_cond.value = avg_cond; + } + else { - avg_temp += values[i].temp; - avg_cond += values[i].cond; - - if(i < values.size()-1) - { - avg_temp = avg_temp/(double)values.size(); - avg_cond = avg_cond/(double)values.size(); - } + m_temp.setTimeStamp(); + m_temp.value = m_args.mean_temp + m_prng->gaussian() * m_args.std_dev_temp; + + m_cond.setTimeStamp(m_temp.getTimeStamp()); + m_cond.value = m_args.mean_cond + m_prng->gaussian() * m_args.std_dev_cond; } - - m_temp.setTimeStamp(); - m_temp.value = avg_temp; - - m_cond.setTimeStamp(m_temp.getTimeStamp()); - m_cond.value = avg_cond; - // TODO: if 0 revert commit - inf("Temp is %lf, cond is %lf", avg_temp, avg_cond); m_depth.setTimeStamp(m_temp.getTimeStamp()); m_depth.value = std::max(m_sstate.z + m_prng->gaussian() * m_args.std_dev_depth, 0.0); From 8b04305c4004cc78d6b86bb4f41e6e7e0689aa05 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Tue, 28 Feb 2023 16:04:54 +0000 Subject: [PATCH 15/15] Convert lat/long to rad --- src/Simulators/CTD/Task.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/Simulators/CTD/Task.cpp b/src/Simulators/CTD/Task.cpp index 89f4932866..1034a778bb 100644 --- a/src/Simulators/CTD/Task.cpp +++ b/src/Simulators/CTD/Task.cpp @@ -152,11 +152,8 @@ namespace Simulators conf.get("ocTree", "Latitude (degrees)", "", m_lat); conf.get("ocTree", "Longitude (degrees)", "", m_long); - m_lat = m_lat; - m_long = m_long; - - //m_lat = Angles::radians(m_lat); - //m_long = Angles::radians(m_long); + m_lat = Angles::radians(m_lat); + m_long = Angles::radians(m_long); m_otree = new OctoTree(data); inf("Created ocTree");