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April 5, 2015 03:30
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instantiating boost::geometry::rtree with 6D torus points
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| Scanning dependencies of target assignment3_context | |
| [ 73%] Building CXX object cs436/assignment3/CMakeFiles/assignment3_context.dir/src/assignment3_context.cpp.o | |
| In file included from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/geometry.hpp:21:0, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry.hpp:17, | |
| from /home/ahundt/catkin_ws/src/cs436/assignment3/src/rtree_graph_planner.hpp:14, | |
| from /home/ahundt/catkin_ws/src/cs436/assignment3/src/assignment3_context.cpp:1: | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp: In instantiation of ‘boost::geometry::traits::coordinate_system<boost::array<double, 6ul>, void>’: | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp:71:21: instantiated from ‘boost::geometry::core_dispatch::coordinate_system<boost::geometry::point_tag, boost::array<double, 6ul> >’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp:93:17: instantiated from ‘boost::geometry::coordinate_system<boost::array<double, 6ul> >’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:174:5: instantiated from ‘boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >’ | |
| /home/ahundt/catkin_ws/src/cs436/assignment3/src/rtree_graph_planner.hpp:159:20: instantiated from here | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp:42:5: error: no matching function for call to ‘assertion_failed(mpl_::failed************ (boost::geometry::traits::coordinate_system<boost::array<double, 6ul>, void>::NOT_IMPLEMENTED_FOR_THIS_POINT_TYPE::************)(mpl_::assert_::types<boost::array<double, 6ul>, mpl_::na, mpl_::na, mpl_::na>))’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp:42:5: note: candidate is: | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/mpl/assert.hpp:83:5: note: template<bool C> int mpl_::assertion_failed(typename mpl_::assert<C>::type) | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp: In instantiation of ‘boost::geometry::core_dispatch::coordinate_system<boost::geometry::point_tag, boost::array<double, 6ul> >’: | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp:93:17: instantiated from ‘boost::geometry::coordinate_system<boost::array<double, 6ul> >’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:174:5: instantiated from ‘boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >’ | |
| /home/ahundt/catkin_ws/src/cs436/assignment3/src/rtree_graph_planner.hpp:159:20: instantiated from here | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/core/coordinate_system.hpp:71:21: error: no type named ‘type’ in ‘struct boost::geometry::traits::coordinate_system<boost::array<double, 6ul>, void>’ | |
| In file included from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/closest_feature/range_to_range.hpp:23:0, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/distance/range_to_geometry_rtree.hpp:26, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/distance/multipoint_to_geometry.hpp:26, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/distance/implementation.hpp:25, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/comparable_distance/implementation.hpp:22, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/comparable_distance.hpp:23, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/buffer/turn_in_piece_visitor.hpp:24, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/buffer/buffered_piece_collection.hpp:32, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/detail/buffer/buffer_inserter.hpp:27, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/algorithms/buffer.hpp:32, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/geometry.hpp:48, | |
| from /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry.hpp:17, | |
| from /home/ahundt/catkin_ws/src/cs436/assignment3/src/rtree_graph_planner.hpp:14, | |
| from /home/ahundt/catkin_ws/src/cs436/assignment3/src/assignment3_context.cpp:1: | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp: In constructor ‘boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::members_holder::members_holder(const IndGet&, const ValEq&, const Parameters&) [with IndGet = boost::geometry::index::indexable<std::pair<boost::array<double, 6ul>, long unsigned int> >, ValEq = boost::geometry::index::equal_to<std::pair<boost::array<double, 6ul>, long unsigned int> >, Value = std::pair<boost::array<double, 6ul>, long unsigned int>, Parameters = boost::geometry::index::rstar<16ul, 4ul>, IndexableGetter = boost::geometry::index::indexable<std::pair<boost::array<double, 6ul>, long unsigned int> >, EqualTo = boost::geometry::index::equal_to<std::pair<boost::array<double, 6ul>, long unsigned int> >, Allocator = std::allocator<std::pair<boost::array<double, 6ul>, long unsigned int> >]’: | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:232:46: instantiated from ‘boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::rtree(const parameters_type&, const indexable_getter&, const value_equal&) [with Value = std::pair<boost::array<double, 6ul>, long unsigned int>, Parameters = boost::geometry::index::rstar<16ul, 4ul>, IndexableGetter = boost::geometry::index::indexable<std::pair<boost::array<double, 6ul>, long unsigned int> >, EqualTo = boost::geometry::index::equal_to<std::pair<boost::array<double, 6ul>, long unsigned int> >, Allocator = std::allocator<std::pair<boost::array<double, 6ul>, long unsigned int> >, boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::parameters_type = boost::geometry::index::rstar<16ul, 4ul>, boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::indexable_getter = boost::geometry::index::indexable<std::pair<boost::array<double, 6ul>, long unsigned int> >, boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::value_equal = boost::geometry::index::equal_to<std::pair<boost::array<double, 6ul>, long unsigned int> >]’ | |
| /home/ahundt/catkin_ws/src/cs436/assignment3/src/rtree_graph_planner.hpp:159:20: instantiated from here | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1528:21: error: using invalid field ‘boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::members_holder::values_count’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1528:21: error: using invalid field ‘boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::members_holder::leafs_level’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1528:21: error: using invalid field ‘boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::members_holder::root’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp: In member function ‘void boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::raw_destroy(boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>&) [with Value = std::pair<boost::array<double, 6ul>, long unsigned int>, Parameters = boost::geometry::index::rstar<16ul, 4ul>, IndexableGetter = boost::geometry::index::indexable<std::pair<boost::array<double, 6ul>, long unsigned int> >, EqualTo = boost::geometry::index::equal_to<std::pair<boost::array<double, 6ul>, long unsigned int> >, Allocator = std::allocator<std::pair<boost::array<double, 6ul>, long unsigned int> >, boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator> = boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >]’: | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:326:9: instantiated from ‘boost::geometry::index::rtree<Value, Options, IndexableGetter, EqualTo, Allocator>::~rtree() [with Value = std::pair<boost::array<double, 6ul>, long unsigned int>, Parameters = boost::geometry::index::rstar<16ul, 4ul>, IndexableGetter = boost::geometry::index::indexable<std::pair<boost::array<double, 6ul>, long unsigned int> >, EqualTo = boost::geometry::index::equal_to<std::pair<boost::array<double, 6ul>, long unsigned int> >, Allocator = std::allocator<std::pair<boost::array<double, 6ul>, long unsigned int> >]’ | |
| /home/ahundt/catkin_ws/src/cs436/assignment3/src/rtree_graph_planner.hpp:159:20: instantiated from here | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1321:9: error: ‘struct boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >::members_holder’ has no member named ‘root’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1325:13: error: ‘struct boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >::members_holder’ has no member named ‘root’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1327:13: error: ‘struct boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >::members_holder’ has no member named ‘root’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1329:9: error: ‘struct boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >::members_holder’ has no member named ‘values_count’ | |
| /home/ahundt/catkin_ws/build/cs436/assignment3/boost-prefix/include/boost/geometry/index/rtree.hpp:1330:9: error: ‘struct boost::geometry::index::rtree<std::pair<boost::array<double, 6ul>, long unsigned int>, boost::geometry::index::rstar<16ul, 4ul> >::members_holder’ has no member named ‘leafs_level’ | |
| make[2]: *** [cs436/assignment3/CMakeFiles/assignment3_context.dir/src/assignment3_context.cpp.o] Error 1 | |
| make[1]: *** [cs436/assignment3/CMakeFiles/assignment3_context.dir/all] Error 2 | |
| make: *** [all] Error 2 | |
| Invoking "make" failed |
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| #ifndef RTREE_PLANNER_HPP_ | |
| #define RTREE_PLANNER_HPP_ | |
| #include <boost/random/mersenne_twister.hpp> | |
| #include <boost/graph/adjacency_list.hpp> | |
| #include <boost/graph/breadth_first_search.hpp> | |
| #include <boost/pending/indirect_cmp.hpp> | |
| #include <boost/range/irange.hpp> | |
| #include <boost/range/numeric.hpp> | |
| #include <boost/range/algorithm/transform.hpp> | |
| #include <boost/range/algorithm/fill.hpp> | |
| #include <boost/geometry.hpp> | |
| #include <boost/geometry/algorithms/distance.hpp> | |
| #include <boost/geometry/geometries/register/point.hpp> | |
| #include <boost/geometry/geometries/point.hpp> | |
| #include <boost/geometry/geometries/box.hpp> | |
| #include <boost/geometry/geometries/polygon.hpp> | |
| #include <boost/geometry/algorithms/correct.hpp> | |
| #include <boost/geometry/geometries/adapted/boost_array.hpp> | |
| #include <boost/math/special_functions/fpclassify.hpp> | |
| #include <boost/geometry/index/rtree.hpp> | |
| #include <boost/math/constants/constants.hpp> | |
| #include <boost/math/special_functions/sign.hpp> | |
| namespace bg = boost::geometry; | |
| namespace bgi = boost::geometry::index; | |
| // Define properties for vertex | |
| template <typename Point> | |
| struct bg_vertex_property | |
| { | |
| bg_vertex_property() | |
| { | |
| boost::geometry::assign_zero(location); | |
| } | |
| bg_vertex_property(Point const& loc) | |
| : location(loc) | |
| { | |
| } | |
| Point location; | |
| }; | |
| // Define properties for edge | |
| template <typename Line> | |
| struct bg_edge_property | |
| { | |
| bg_edge_property(Line const& line) | |
| : length(boost::geometry::length(line)) | |
| , m_line(line) | |
| { | |
| } | |
| inline Line const& line() const | |
| { | |
| return m_line; | |
| } | |
| double length; | |
| private : | |
| Line m_line; | |
| }; | |
| //namespace pointindex { | |
| //typedef bg::model::point<double, 3, bg::cs::cartesian> point; | |
| typedef boost::array<double,6> ArmPos; | |
| typedef ArmPos point_type; | |
| typedef bg::model::box<point_type> box; | |
| typedef bg::model::referring_segment<point_type> line_type; | |
| //typedef bg::model::polygon<point, false, false> polygon; // ccw, open polygon | |
| typedef boost::adjacency_list | |
| < | |
| boost::vecS, boost::vecS, boost::undirectedS | |
| , bg_vertex_property<point_type> // bundled | |
| , bg_edge_property<line_type> | |
| > graph_type; | |
| typedef boost::graph_traits<graph_type>::vertex_descriptor vertex_type; | |
| typedef std::pair<point_type, vertex_type> rtree_value; | |
| typedef boost::geometry::index::rtree<rtree_value,bgi::rstar<16, 4> > knn_rtree_type; | |
| //} | |
| template<typename T> | |
| inline T normalizeRadiansPiToMinusPi(T rad) | |
| { | |
| // copy the sign of the value in radians to the value of pi | |
| T signedPI = boost::math::copysign(boost::math::constants::pi<T>(),rad); | |
| // set the value of rad to the appropriate signed value between pi and -pi | |
| rad = std::fmod(rad+signedPI,(boost::math::constants::two_pi<T>())) - signedPI; | |
| return rad; | |
| } | |
| // functor for getting sum of previous result and square of current element | |
| // source: http://stackoverflow.com/questions/1326118/sum-of-square-of-each-elements-in-the-vector-using-for-each | |
| template<typename T> | |
| struct square | |
| { | |
| T operator()(const T& Left, const T& Right) const | |
| { | |
| return (Left + Right*Right); | |
| } | |
| }; | |
| namespace boost { namespace geometry { | |
| double comparable_distance(ArmPos const& p1, ArmPos const& p2 ) { | |
| ArmPos diff; | |
| boost::transform(p1,p2,diff.begin(),std::minus<ArmPos::value_type>()); | |
| boost::transform(diff,diff.begin(),&normalizeRadiansPiToMinusPi<ArmPos::value_type>); | |
| return boost::accumulate(diff,0,square<ArmPos::value_type>()); | |
| } | |
| template<typename Box> | |
| double comparable_distance(ArmPos const& armpos, Box const& box ){ | |
| namespace bg = boost::geometry; | |
| ArmPos normAP = normalizeRadiansPiToMinusPi(armpos); | |
| ArmPos mindiff; | |
| boost::transform(normAP,bg::get<bg::min_corner>(box),mindiff.begin(),std::minus<ArmPos::value_type>()); | |
| boost::transform(mindiff,mindiff.begin(),&normalizeRadiansPiToMinusPi<ArmPos::value_type>); | |
| ArmPos maxdiff; | |
| boost::transform(normAP,bg::get<bg::max_corner>(box),maxdiff.begin(),std::minus<ArmPos::value_type>()); | |
| boost::transform(maxdiff,maxdiff.begin(),&normalizeRadiansPiToMinusPi<ArmPos::value_type>); | |
| ArmPos::value_type final_distance = 0.0; | |
| for(int i = 0; i < armpos.size(); ++i){ | |
| if(mindiff[i] >= 0.0 && maxdiff[i] <= 0.0) continue; // between the min and max means "in the box" for this dimension | |
| ArmPos::value_type min_dist = std::min(std::abs(mindiff[i]),std::abs(maxdiff[i])); | |
| final_distance+=min_dist*min_dist; | |
| } | |
| return final_distance; | |
| // diff (min<D> - p<D>), (p<D> - max<D>) | |
| } | |
| }} // namespace boost::geometry | |
| /// just a test | |
| void instantiate_rtree_and_graph(){ | |
| // comment these two lines to fix compiler error | |
| graph_type graph; | |
| knn_rtree_type rtree; | |
| // todo: | |
| // create vector of point_type | |
| // insert into graph | |
| // insert std::pair<point_type,vertex_type> into rtree | |
| // search for pairs of points that connect a start point to goal point without obstacles | |
| } | |
| #endif |
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