RandomSearchTask.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
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 */ 

#ifndef INCLUDE_ARTICULATION_RANDOMSEARCHTASK_H_
#define INCLUDE_ARTICULATION_RANDOMSEARCHTASK_H_

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

namespace gpu_coverage {

class VisibilityRenderer;
class CostMapRenderer;
class BellmanFordXfbRenderer;
class Renderer;

class RandomSearchTask: public AbstractTask {
public:
    RandomSearchTask(Scene * const scene, const size_t threadNr, SharedData * const sharedData,
            const size_t numIterations, const size_t numArticulationConfigs, const size_t numCameraPoses);
    virtual ~RandomSearchTask();

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

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

    Texture * costmapTexture;
    Node * cameraNode;
    CostMapRenderer * costmapRenderer;
    BellmanFordXfbRenderer * bellmanFordRenderer;
    VisibilityRenderer * visibilityRenderer;
    Renderer * renderer;

    GLuint targetTexture[20];
    size_t numTargetTextures;
    std::vector<glm::vec3> targetPoints;

    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_RANDOMSEARCHTASK_H_ */