range_obs.hpp

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#ifndef _RANGE_OBS_HPP
#define _RANGE_OBS_HPP

#include <iostream>
#include "properties.hpp"
#include "query_point.hpp"
#include "coloring.hpp"
#include "arak.hpp"
#include "grid.hpp"

namespace Arak {

  class ArakPosteriorRangeObs : public ArakProcess, 
        public Coloring::Listener {

  protected:

    class RangeObs;
    typedef PointerHandle<RangeObs> RangeObsHandle;

    typedef Grid<RangeObsHandle> RangeObsIndex;

    class RangeObs : public QueryPointListener {

    public:
      
      Geometry::Point source;

      Geometry::Point target;

      Geometry::Point max;

      double range;

      bool isMaxRange;

      Color sourceColor;

      Geometry::Point curContact;

      double curRange;

      double lp;

      typedef RangeObsIndex::Cell::Entry CellEntry;

      typedef std::list<CellEntry> CellEntryList;

      CellEntryList entries;

      CellEntryList unused;

      unsigned long int updateId;

      RangeObs(const Geometry::Point& source, 
         const Geometry::Point& target, 
         const double maxRange);

      virtual ~RangeObs() {};

      virtual void recolor(Color color) {
  sourceColor = color;
      }

    }; // End of class: ArakPosteriorRangeObs::RangeObservation

    const ArakProcess& prior;

    std::vector<RangeObs*> obs;

    RangeObsIndex* obsIndex;

    unsigned long int updateId;

    double maxRange;

    double rangeVar;
  
    double pOutlier;

    double pMaxFalseNeg;

    double pMaxFalsePos;

    double lp;
    
    bool retraceObs(RangeObs& o, bool init = false) const;

    double updateObsLP(RangeObs& o, bool init = false) const;

  public:

    ArakPosteriorRangeObs(const ArakProcess& prior,
        const Arak::Util::PropertyMap& props);

    virtual ~ArakPosteriorRangeObs();

    const Geometry::Rectangle& boundary() const { 
      return obsIndex->boundary(); 
    }

    virtual double scale() const { return prior.scale(); }

    virtual double logMeasure() const;

    virtual double potential() const;

    virtual void visualize(CGAL::Qt_widget& widget) const;

    virtual void update(const Geometry::Point& a,
      const Geometry::Point& b,
      const Geometry::Point& c);
      
    virtual void recolored(const Geometry::Point& a,
         const Geometry::Point& b,
         const Geometry::Point& c);
      
    virtual void recolored(const Geometry::Point& a,
         const Geometry::Point& b,
         const Geometry::Point& c,
         const Geometry::Point& d);
  }; // End of class: ArakPosteriorRangeObs

  CGAL::Qt_widget& operator<<(CGAL::Qt_widget& widget, 
            ArakPosteriorRangeObs& p);

}

#endif

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