From c7e3e250b4e7f52ecc0c717baef60fddd70027b3 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Wed, 13 Feb 2019 15:41:58 +0100
Subject: [PATCH] Changed to use std::discrete_distribution
---
.../ApproachMovementSurfaceNormal.cpp | 45 +++----------------
GraspPlanning/ApproachMovementSurfaceNormal.h | 30 ++++++++-----
2 files changed, 26 insertions(+), 49 deletions(-)
diff --git a/GraspPlanning/ApproachMovementSurfaceNormal.cpp b/GraspPlanning/ApproachMovementSurfaceNormal.cpp
index 56b366cd5..3e930edb2 100644
--- a/GraspPlanning/ApproachMovementSurfaceNormal.cpp
+++ b/GraspPlanning/ApproachMovementSurfaceNormal.cpp
@@ -24,16 +24,17 @@ namespace GraspStudio
{
ApproachMovementSurfaceNormal::ApproachMovementSurfaceNormal(VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef,
- const std::string& graspPreshape, float maxRandDist, bool regardFaceAreas)
+ const std::string& graspPreshape, float maxRandDist, bool useFaceAreaDistribution)
: ApproachMovementGenerator(object, eef, graspPreshape),
randomDistanceMax(maxRandDist),
- regardFaceAreas(regardFaceAreas)
+ distribUniform(0, objectModel->faces.size() - 1)
{
name = "ApproachMovementSurfaceNormal";
- if (regardFaceAreas)
+ if (useFaceAreaDistribution)
{
- initFaceAreas();
+ std::vector<float> areas = objectModel->getFaceAreas();
+ distribFaceAreas = std::discrete_distribution<std::size_t>(areas.begin(), areas.end());
}
}
@@ -47,24 +48,8 @@ namespace GraspStudio
return false;
}
- std::size_t faceIndex = 0;
- if (!regardFaceAreas)
- {
- faceIndex = static_cast<std::size_t>(rand()) % objectModel->faces.size();
- }
- else
- {
- float ticket = distrib(randomEngine);
- float currentTotal = 0;
-
- // find face that owns the ticket (i.e. face i with total[i-1] < ticket < total[i])
- std::size_t i = 0;
- for (i = 0; i < faceSizes.size() && currentTotal < ticket; ++i)
- {
- currentTotal += faceSizes[i];
- }
- faceIndex = i;
- }
+ std::size_t faceIndex = useFaceAreasDistrib ? distribFaceAreas(randomEngine)
+ : distribUniform(randomEngine);
std::size_t nVert1 = (objectModel->faces[faceIndex]).id1;
std::size_t nVert2 = (objectModel->faces[faceIndex]).id2;
@@ -253,20 +238,4 @@ namespace GraspStudio
return true;
}
- void ApproachMovementSurfaceNormal::initFaceAreas()
- {
- faceSizesTotal = 0;
- for (const auto& face : objectModel->faces)
- {
- float area = MathTools::getTriangleArea(objectModel->vertices[face.id1],
- objectModel->vertices[face.id2], objectModel->vertices[face.id3]);
-
- faceSizes.push_back(area);
- faceSizesTotal += area;
- }
-
- std::random_device rd;
- randomEngine = std::default_random_engine(rd());
- distrib = std::uniform_real_distribution<float>(0, faceSizesTotal);
- }
}
diff --git a/GraspPlanning/ApproachMovementSurfaceNormal.h b/GraspPlanning/ApproachMovementSurfaceNormal.h
index fa917ec8b..943dca423 100644
--- a/GraspPlanning/ApproachMovementSurfaceNormal.h
+++ b/GraspPlanning/ApproachMovementSurfaceNormal.h
@@ -27,6 +27,8 @@
#include <VirtualRobot/SceneObject.h>
+#include <memory>
+#include <random>
#include <vector>
@@ -53,11 +55,16 @@ namespace GraspStudio
* \param object The object.
* \param eef The end effector.
* \param graspPreshape An optional preshape that can be used in order to "open" the eef.
- * \param maxRandDist If >0, the resulting apporach pose is randomly moved in the approach direction (away from the object) in order to create different distances to the object.
+ * \param maxRandDist
+ * If >0, the resulting apporach pose is randomly moved in the approach direction
+ * (away from the object) in order to create different distances to the object.
+ * \param usefaceAreaDistribution
+ * If true, the probability of a face being selected is proportional to its area.
+ * If false, all faces are selected with equal probability.
*/
ApproachMovementSurfaceNormal(VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef,
const std::string& graspPreshape = "", float maxRandDist = 0.0f,
- bool regardFaceAreas = false);
+ bool useFaceAreaDistribution = false);
//! Destructor
virtual ~ApproachMovementSurfaceNormal() override;
@@ -78,18 +85,19 @@ namespace GraspStudio
protected:
- /// Fill faceSizes and faceSizesTotal with object model face sizes.
- void initFaceAreas();
+ float randomDistanceMax;
+ /// The random engine.
+ std::default_random_engine randomEngine { std::random_device{}() };
- float randomDistanceMax;
+ /// Uniform distribiton over face indices.
+ std::uniform_int_distribution<std::size_t> distribUniform;
+
+ /// Indicates whether distribFaceAreas shall be used.
+ bool useFaceAreasDistrib = false;
+ /// Distribution with probability of a face proportional to its area.
+ std::discrete_distribution<std::size_t> distribFaceAreas;
- bool regardFaceAreas = false;
- std::vector<float> faceSizes;
- float faceSizesTotal = 0;
- std::default_random_engine randomEngine;
- std::uniform_real_distribution<float> distrib;
-
};
}
--
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