HillclimbingTask.h

/*
 * Copyright (c) 2018, Stefan Osswald
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 * 
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 * 
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */ 

#ifndef INCLUDE_ARTICULATION_HILLCLIMBINGTASK_H_
#define INCLUDE_ARTICULATION_HILLCLIMBINGTASK_H_

#include <gpu_coverage/AbstractRenderer.h>
#include <gpu_coverage/AbstractTask.h>
#include <gpu_coverage/Scene.h>
#include <gpu_coverage/RobotSceneConfiguration.h>
#include <vector>

#define WRITE_VISUALIZATION_DATA true

namespace gpu_coverage {

class VisibilityRenderer;
class CostMapRenderer;
class BellmanFordXfbRenderer;
class PanoRenderer;
class PanoEvalRenderer;
class Renderer;

class HillclimbingTask: public AbstractTask {
public:
    HillclimbingTask(Scene * const scene, const size_t threadNr, SharedData * const sharedData);
    virtual ~HillclimbingTask();

    virtual void run();
    static void allocateSharedData();
    static void freeSharedData();

protected:
    Scene * const scene;
    const size_t numIterations, numArticulations;

    Texture * costmapTexture;
    Node * cameraNode;
    CostMapRenderer * costmapRenderer;
    BellmanFordXfbRenderer * bellmanFordRenderer;
    VisibilityRenderer * visibilityRenderer;
#ifdef WRITE_VISUALIZATION_DATA
    Renderer * renderer;
#endif
    PanoRenderer * panoRenderer;
    PanoEvalRenderer * panoEvalRenderer;

    std::vector<GLuint> targetTextures;
    std::vector<std::string> targetNames;

    struct Configuration {
        glm::mat4x4 cameraTransform;
        size_t frame;
        GLuint count;
        Configuration()
                : frame(0), count(0) {
        }
    };

    struct TaskSharedData {
        // shared across processes, no pointers or dynamic memory here!
        RobotSceneConfiguration currentConfiguration;
        RobotSceneConfiguration bestConfiguration;
        float bestEval;
        bool finished;
    };
    static TaskSharedData *taskSharedData;
};

} /* namespace gpu_coverage */

#endif /* INCLUDE_ARTICULATION_HILLCLIMBINGTASK_H_ */