LSM< grid_t > Class Template Reference

Implements Lock Sweeping Method. More...

#include <lsm.hpp>

Inheritance diagram for LSM< grid_t >:

Collaboration diagram for LSM< grid_t >:

Public Member Functions
	LSM (unsigned maxSweeps=std::numeric_limits< unsigned >::max())
	LSM (const char *name, unsigned maxSweeps=std::numeric_limits< unsigned >::max())
virtual void	computeInternal ()
	Actual method that implements LSM.
virtual void	reset ()
	Clears temporal data, so it is ready to run again.
virtual void	printRunInfo () const
Public Member Functions inherited from FSM< grid_t >
	FSM (unsigned maxSweeps=std::numeric_limits< unsigned >::max())
	FSM (const char *name, unsigned maxSweeps=std::numeric_limits< unsigned >::max())
virtual void	setEnvironment (grid_t *g)
	Sets and cleans the grid in which operations will be performed. Since a maximum number of dimensions is assumed, fills the rest with size 1.
virtual void	setup ()
	Executes EikonalSolver setup and other checks.
Public Member Functions inherited from EikonalSolver< grid_t >
	EikonalSolver (const std::string &name)
virtual double	solveEikonal (const int &idx)
	Solves nD Eikonal equation for cell idx. If heuristics are activated, it will add the estimated travel time to goal with current velocity. More...
Public Member Functions inherited from Solver< grid_t >
	Solver (const std::string &name)
virtual void	setInitialAndGoalPoints (const std::vector< unsigned int > &init_points, unsigned int goal_idx)
	Sets the initial and goal points by the indices of the grid.
virtual void	setInitialPoints (const std::vector< unsigned int > &init_points)
	Sets the initial points by the indices of the grid.
virtual void	setInitialAndGoalPoints (const std::array< unsigned int, grid_t::getNDims()> &init_coord, const std::array< unsigned int, grid_t::getNDims()> &goal_coord)
	Sets the initial and goal points by the coordinates of the grid.
virtual void	setInitialPoints (const std::array< unsigned int, grid_t::getNDims()> &init_coord)
	Sets the initial point by the coordinates of the grid.
void	compute ()
	Computes the distances map. Will call setup() if not done already.
template<class T >
T *	as ()
	Cast this instance to a desired type.
template<class T >
const T *	as () const
	Cast this instance to a desired type.
const std::string &	getName () const
	Returns name of the solver.
virtual void	clear ()
	Clears the solver, it is not recommended to be used out of the destructor.
grid_t *	getGrid () const
	Returns a pointer to the grid used.
virtual double	getTime () const

Protected Member Functions
virtual void	solveForIdx (unsigned idx)
	Actually executes one solving iteration of the LSM.
Protected Member Functions inherited from FSM< grid_t >
void	recursiveIteration (size_t depth, int it=0)
	Equivalent to nesting as many for loops as dimensions. For every most inner loop iteration, solveForIdx() is called for the corresponding idx.
virtual void	setSweep ()
	Set the sweep variables: initial and final indices for iterations, and the increment of each iteration in every dimension. More...
virtual void	initializeSweepArrays ()
	Initializes the internal arrays employed.
Protected Member Functions inherited from EikonalSolver< grid_t >
double	solveEikonalNDims (unsigned int idx, unsigned int dim)
	Solves the Eikonal equation assuming that Tvalues_ is sorted.
Protected Member Functions inherited from Solver< grid_t >
int	sanityChecks ()
	Performs different check before a solver can proceed.

Protected Attributes
std::array< unsigned int, 2 *grid_t::getNDims()>	neighbors_
	Auxiliar array which stores the neighbor of each iteration of the computeFM() function.
Protected Attributes inherited from FSM< grid_t >
unsigned int	sweeps_
	Number of sweeps performed.
unsigned	maxSweeps_
	Number of maximum sweeps to perform.
bool	keepSweeping_
	Flag to indicate that at least one more sweep is required.
bool	stopPropagation_
	Flag to stop sweeping (used when goal point has converged).
std::array< int, grid_t::getNDims()>	incs_
	Sweep directions {-1,1} for each dimension. Extended dimensions always 1.
std::array< int, grid_t::getNDims()>	inits_
	Initial indices for each dimension. Extended dimensions always 0.
std::array< int, grid_t::getNDims()>	ends_
	Final indices for each dimension. Extended dimensions always 1.
std::array< int, grid_t::getNDims()>	dimsize_
	Size of each dimension, extended to the maximum size. Extended dimensions always 1.
std::array< int, grid_t::getNDims()>	d_
	Auxiliar array to speed up indexing generalization: stores parcial multiplications of dimensions sizes. d_[0] = dimsize_[0]; d_[1] = dimsize_[0]*dimsize_[1]; etc.
Protected Attributes inherited from EikonalSolver< grid_t >
std::vector< double >	Tvalues_
	Auxiliar vector with values T0,T1...Tn-1 variables in the Discretized Eikonal Equation.
std::array< unsigned int, 2 *grid_t::getNDims()>	neighbors_
	Auxiliar array which stores the neighbor of each iteration of the computeFM() function.
Protected Attributes inherited from Solver< grid_t >
grid_t *	grid_
	Grid container.
std::string	name_
	Solver name.
bool	setup_
	Setup status.
std::vector< unsigned int >	init_points_
	Initial index.
unsigned int	goal_idx_
	Goal index.
std::chrono::time_point < std::chrono::steady_clock >	start_
	Time measurement variables.
std::chrono::time_point < std::chrono::steady_clock >	end_
double	time_
	Time elapsed by the compute method.

Detailed Description

template<class grid_t>
class LSM< grid_t >

Todo:

implement a more robust goal point stopping criterion.

It uses as a main container the nDGridMap class. The nDGridMap type T has to use an FMCell or derived.

The grid is assumed to be squared, that is Delta(x) = Delta(y) = leafsize_

External documentation:

S. Bak, J. McLaughlin, D. Renzi, Some Improvements for the Fast Sweeping Method, SIAM J. Sci. Comput., 32(5), 2853–2874. 2010. [More Info]

NOTE: The sweeping directions are inverted with respect to the paper to make implementation easier. And sweeping is implemented recursively (undetermined number of nested for loops) to achieve n-dimensional behaviour.

Copyright (C) 2015 Javier V. Gomez www.javiervgomez.com

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition at line 40 of file lsm.hpp.

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The documentation for this class was generated from the following file:

• /home/jvgomez/Desktop/fastmarching/include/fast_methods/fm/lsm.hpp