BoxSpace.cpp

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#include "BoxSpace.h"

#include <Rcs_macros.h>
#include <Rcs_basicMath.h>

#include <sstream>

namespace Rcs
{

static void initDefaultNames(std::vector<std::string>& out, unsigned int dim)
{
    // generate numbered values
    const char* format = "value %02d";
    const size_t BUFFER_LEN = 10;
    char buffer[BUFFER_LEN];
    
    for (unsigned int i = 0; i < dim; ++i) {
        snprintf(buffer, BUFFER_LEN, format, i);
        out.emplace_back(buffer);
    }
}

BoxSpace::BoxSpace(MatNd* min, MatNd* max, std::vector<std::string> names) :
    min(min), max(max), names(names)
{
    RCHECK(min);
    RCHECK(max);
    // validate that the dimensions match
    RCHECK_MSG(min->m == max->m && min->n == max->n,
               "Min (%d, %d) and max (%d, %d) dimensions must match", min->m,
               max->m, min->n, max->n);
    
    // init names with default if any
    if (names.empty()) {
        initDefaultNames(names, min->m*min->n);
    }
    else {
        RCHECK_MSG(min->m*min->n == names.size(), "Name variables must match element count");
    }
}

BoxSpace::BoxSpace(double min, double max, unsigned int m, unsigned int n, std::vector<std::string> names) : names(
    names)
{
    // create matrices according to size
    this->min = MatNd_create(m, n);
    this->max = MatNd_create(m, n);
    
    // fill them with the passed values
    MatNd_setElementsTo(this->min, min);
    MatNd_setElementsTo(this->max, max);
    
    // init names with default if any
    if (names.empty()) {
        initDefaultNames(names, m*n);
    }
    else {
        RCHECK_MSG(m*n == names.size(), "Name variables must match element count");
    }
}

BoxSpace::BoxSpace(const BoxSpace& other)
{
    // copy new
    min = MatNd_clone(other.min);
    max = MatNd_clone(other.max);
}

BoxSpace& BoxSpace::operator=(const BoxSpace& other)
{
    // destroy old
    MatNd_destroy(min);
    MatNd_destroy(max);
    
    // copy new
    min = MatNd_clone(other.min);
    max = MatNd_clone(other.max);
    
    return *this;
}

BoxSpace::BoxSpace(BoxSpace&& other) noexcept
{
    // steal values
    min = other.min;
    max = other.max;
    
    // and set them to NULL over there. The destructor can deal with it.
    other.min = NULL;
    other.max = NULL;
}

BoxSpace& BoxSpace::operator=(BoxSpace&& other) noexcept
{
    // destroy old
    MatNd_destroy(min);
    MatNd_destroy(max);
    
    // steal values
    min = other.min;
    max = other.max;
    
    // and set them to NULL over there. The destructor can deal with it.
    other.min = NULL;
    other.max = NULL;
    
    return *this;
}

BoxSpace::~BoxSpace()
{
    MatNd_destroy(min);
    MatNd_destroy(max);
}

bool BoxSpace::checkDimension(const MatNd* values, std::string* msg) const
{
    if (values->m != min->m || values->n != min->n) {
        // They don't match
        if (msg) {
            std::ostringstream os;
            os << "mismatching dimensions: expected (" << min->m << ", "
               << min->n << ") but got (" << values->m << ", " << values->n
               << ")";
            *msg = os.str();
        }
        return false;
    }
    return true;
}

bool BoxSpace::contains(const MatNd* values, std::string* msg) const
{
    bool valid = true;

    // Check if the dimensions match
    if (!checkDimension(values, msg)) {
        valid = false;
    }

    // Check individual value bounds
    for (unsigned int i = 0; i < values->m*values->n; ++i) {
        bool less = values->ele[i] < min->ele[i];
        bool more = values->ele[i] > max->ele[i];
        if (less || more) {
            // They don't match
            if (msg) {
                std::ostringstream os;
                os << "value out of bounds: val(" << (i/values->n) << ", "
                   << (i%values->n) << ") = " << values->ele[i];
                if (less) {
                    os << " < " << min->ele[i];
                }
                else {
                    os << " > " << max->ele[i];
                }
                *msg = os.str();
            }
            valid = false;
        }
    }
    
    return valid;
}

MatNd* BoxSpace::createValueMatrix() const
{
    return MatNd_create(min->m, min->n);
}

void BoxSpace::sample(MatNd* out) const
{
    RCHECK(out->m == min->m && out->n == min->n);
    // iterate elements
    for (unsigned int i = 0; i < out->m*out->n; ++i) {
        out->ele[i] = Math_getRandomNumber(min->ele[i], max->ele[i]);
    }
}

} /* namespace Rcs */