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optimization.cpp
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optimization.cpp
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#include "optimization.h"
//declare global for generating random numbers
random_device rd;
mt19937 generator(rd());
//set point to vector
Vector2 set_points(double x, double y) {
Vector2 pass_value;
pass_value.x = x;
pass_value.y = y;
return pass_value;
}
//helper functions for adding, subtracting and multiplying vectors
Vector2 add(const Vector2& a, const Vector2& b) {
Vector2 c;
c.x = a.x + b.x;
c.y = a.y + b.y;
return c;
}
Vector2 substract(const Vector2& a, const Vector2& b) {
Vector2 c;
c.x = a.x - b.x;
c.y = a.y - b.y;
return c;
}
Vector2 multiply(double s, const Vector2& b) {
Vector2 c;
c.x = s * b.x;
c.y = s * b.y;
return c;
}
double dot_product(const Vector2& a, const Vector2& b) {
double c;
c = (a.x*b.x) + (a.y*b.y);
return c;
}
//helper function calculating length
double length(const Vector2& a) {
double c;
c = sqrt(pow(a.x, 2) + pow(a.y, 2));
return c;
}
//We translate our problem to 2d so we take coordinates x, z
//we take x as x and y as z
Vector2 glmToVector2(glm::vec3 a) {
Vector2 b;
b.x = a.x;
b.y = a.z;
return b;
}
namespace optimization
{
//wall class constructor
Wall::Wall(const Vector2& p1, const Vector2& p2, string name) {//line constructor
Point1 = p1;
Point2 = p2;
WallName = name;
}
//calculate closest point of walls to another point
Vector2 Wall::closest_point(const Vector2& point) {//finds closest point in line
Vector2 cl_point, a, b;
a = get_point1();
b = get_point2();
cl_point = substract(a, multiply((dot_product(substract(a, point), substract(b, a))) / (dot_product(substract(b, a), substract(b, a))), substract(b, a)));
return cl_point;
}
//calulate distance of wall to point
double Wall::distance_to(const Vector2& point) {//calculate distance between 2 points
return length(substract(closest_point(point), point));
}
optimize::optimize(shape* room) {//constructor
this->room = room;
GetWalls();
GetFurnitures();
GetDoorVisibilityPriors();//The visibility of door is of high importance so there should not be any object infront of it
visualisation::render test(room); //positive example
HillClimbing();
}
optimize::~optimize() {//destructor
}
void optimize::GetWalls() {//get for walls where object cannot get out
//Get length and width of floor so we can create coordinates for optimization
for (auto child : room->children)
{
if (child->getType() == "floor")
{
l = child->getLength();
w = child->getWidth();
}
}
//create 4 walls
Wall wall1(set_points(-w / 2.0, l / 2.0), set_points(w / 2.0, l / 2.0), "Wall1");
Wall wall2(set_points(w / 2.0, l / 2.0), set_points(w / 2.0, -l / 2.0), "Wall2");
Wall wall3(set_points(w / 2.0, -l / 2.0), set_points(-w / 2.0, -l / 2.0), "Wall3");
Wall wall4(set_points(-w / 2.0, -l / 2.0), set_points(-w / 2.0, l / 2.0), "Wall4");
room_walls.push_back(wall1);
room_walls.push_back(wall2);
room_walls.push_back(wall3);
room_walls.push_back(wall4);
}
void optimize::GetFurnitures() {//get furnitures from tree for faster calculation
for (auto child : room->children)
{
if (child->getType() == "floor")
{
for (int j = 0; j < child->children.size(); ++j)//iteration through the children of floor
{
shape* currentFurniture = child->children[j];
priorFurnitures.insert(make_pair(currentFurniture->getName(), *currentFurniture));//
}
}
}
}
void optimize::SetFurnitures(vector<shape> newFurnitures) {//set furnitures in room
for (auto child : room->children)
{
if (child->getType() == "floor")
{
for (int j = 0; j < child->children.size(); ++j)
{
shape newFur = newFurnitures[j];
child->children[j] = new shape(newFur);
}
}
}
}
void optimize::GetDoorVisibilityPriors() {//get priors from the positive tree example we have
for (auto child : room->children)
{
if (child->getType() == "wall" && child->children.size() > 0)//the children of wall is door,window,poster,...
{
for (auto door : child->children)
{
if (door->getType() == "door")//if the children of the wall is door
{
if (child->getName() == "fwall")//if the door is on front wall
{
door_visibility_prior = (child->getLength()*0.7) / 4;
door_visible_space = set_points(w / 4, (l / 2) - door_visibility_prior);
}
else if (child->getName() == "bwall")
{
door_visibility_prior = (child->getLength()*0.7) / 4;
door_visible_space = set_points(-w / 4, (-l / 2) + door_visibility_prior);
}
else if (child->getName() == "lwall")
{
door_visibility_prior = (child->getLength()*0.7) / 4;
door_visible_space = set_points((-w / 2) + door_visibility_prior, l / 4);
}
else if (child->getName() == "rwall")
{
door_visibility_prior = (child->getLength()*0.7) / 4;
door_visible_space = set_points((w / 2) - door_visibility_prior, -l / 4);
}
}
}
}
}
}
double optimize::GetDistanceFromClosestWall(Vector2 center) {
double closestDistance;
//get all prior distances(distance to closest wall)
int j = 0;
for (auto wall : room_walls)
{
if (j == 0)
{
closestDistance = wall.distance_to(center);
j++;
}
else {
if (closestDistance > wall.distance_to(center))
{
closestDistance = wall.distance_to(center);
}
}
}
return closestDistance;
}
string optimize::GetClosestWallName(Vector2 center) {
double closestDistance;
string wallName;
//we get all prior distances(distance to closest wall)
int j = 0;
for (auto wall : room_walls)
{
if (j == 0)
{
closestDistance = wall.distance_to(center);
wallName = wall.get_name();
j++;
}
else {
if (closestDistance > wall.distance_to(center))
{
closestDistance = wall.distance_to(center);
wallName = wall.get_name();
}
}
}
return wallName;
}
double optimize::GetFurnitureDiagonal(Vector2 size) {
double wf = size.x;
double lf = size.y;
return sqrt(pow(lf, 2) + pow(wf, 2)) / 2;
}
//Prior distance cost Cd_pr
double optimize::PriorDistanceCost(vector<shape> newFurnitures) {//calculate prior distance cost
double Cd_pr = 0;
double currentDistance;
double priorDistance;
//calculate distance to the closest wall and save them in vector d
for (auto currentFur : newFurnitures) {
Vector2 currentFurnitureCenter = glmToVector2(currentFur.getPosition());
shape currentPriorFurniture = priorFurnitures[currentFur.getName()];
Vector2 currentPriorFurnitureCenter = glmToVector2(currentPriorFurniture.getPosition());
currentDistance = GetDistanceFromClosestWall(currentFurnitureCenter);
priorDistance = GetDistanceFromClosestWall(currentPriorFurnitureCenter);
Cd_pr += 1.1*sqrt(pow((currentDistance - priorDistance), 2));
}
return Cd_pr;
}
//Prior orientation cost Ctheta_pr
double optimize::PriorOrientationCost(vector<shape> newFurnitures) {//calculate orientation cost
double Ctheta_pr = 0;
for (auto currentFur : newFurnitures) {
shape currentPriorFurniture = priorFurnitures[currentFur.getName()];
Ctheta_pr += sqrt(pow((currentFur.getAngle() - currentPriorFurniture.getAngle()), 2)); //priorTheta
}
return Ctheta_pr;
}
//Prior pairwise distance cost Cd_pair
double optimize::PriorPairwiseDistanceCost(vector<shape> newFurnitures) {//calculate pair distance cost
double Cd_pair = 0;
double currentDistance;
double priorDistance;
shape currentFurniture = shape();
shape currentPairFurniture = shape();
shape currentPriorFurniture = shape();
shape currentPriorPairFurniture = shape();
//calculate distance between pairwise objects
for (auto currentFur1 : newFurnitures) {
if (currentFur1.getPair() == "") continue;
currentFurniture = currentFur1;
currentPriorFurniture = priorFurnitures[currentFurniture.getName()];
for (auto currentFur2 : newFurnitures) {
if (currentFur2.getName() != currentFurniture.getPair()) continue;
currentPairFurniture = currentFur2;
currentPriorPairFurniture = priorFurnitures[currentPairFurniture.getName()];
Vector2 currentCenter = glmToVector2(currentFurniture.getPosition());
Vector2 pairCenter = glmToVector2(currentPairFurniture.getPosition());
currentDistance = length(substract(currentCenter, pairCenter));
Vector2 currentPriorCenter = glmToVector2(currentPriorFurniture.getPosition());
Vector2 pairPriorCenter = glmToVector2(currentPriorPairFurniture.getPosition());
priorDistance = length(substract(currentPriorCenter, pairPriorCenter));
Cd_pair += sqrt(pow((currentDistance - priorDistance), 2));
}
}
return Cd_pair;
}
//punish as object i overlaps with object j accesible space
double optimize::AccessibilityCost(vector<shape> newFurnitures) {
double access_cost = 0;
double Ca = 0;
for (auto currentFur1 : newFurnitures) {
for (auto currentFur2 : newFurnitures) {
if (currentFur1.getName() != currentFur2.getName()) {//we dont want to check if object overlaps itself
Vector2 iPosition = glmToVector2(currentFur1.getPosition());
Vector2 jPosition = glmToVector2(currentFur2.getPosition());
double iDiagonal = GetFurnitureDiagonal(glmToVector2(currentFur1.getScale()));
double jDiagonal = GetFurnitureDiagonal(glmToVector2(currentFur2.getScale()));
double a = length(substract(iPosition, jPosition));
double b = 1.1*(iDiagonal + jDiagonal);
access_cost = 1 - (a / b);
Ca += max(0.0, access_cost);
}
}
}
return Ca;
}
//Visibility cost (Only implemented for door)
double optimize::VisibilityCost(vector<shape> newFurnitures) {//TODO implement visibility cost(at least only for the door)
double visibilityCost = 0;
for (auto currentFur : newFurnitures)
{
Vector2 newPosition = glmToVector2(currentFur.getPosition());
double distanceFromFurniture = length(substract(newPosition, door_visible_space));//distance from furniture center to door visible space rectangular center
double sumOfDiagonals = 1.2*(GetFurnitureDiagonal(glmToVector2(currentFur.getScale())) + door_visibility_prior);
visibilityCost += max(0.0, 1 - (distanceFromFurniture / sumOfDiagonals));
}
return visibilityCost;
}
//Overall cost function
double optimize::TotalCost(double Ca, double Cd_pr, double Ctheta_pr, double Cv, double Cd_pair) {//calculate total system cost
double wa = 2.0; //weighting
double wd_pr = 3.0;
double wtheta_pr = 1.0;
double wd_pair = 1.0;
double wv = 3.0;
double accessibllity_cost = wa * Ca;
double distance_cost = wd_pr * Cd_pr;
double angle_cost = wtheta_pr * Ctheta_pr;
double pair_cost = wd_pair * Cd_pair;
double visibillity_cost = wv * Cv;
double total = accessibllity_cost + distance_cost + angle_cost + pair_cost + visibillity_cost;
return total;
}
double optimize::CalculateCostFunctions(vector<shape> newFurnitures) {//helper function to calculate all costs
double Cd_pr = PriorDistanceCost(newFurnitures);
double Ca = AccessibilityCost(newFurnitures);
double Ctheta_pr = PriorOrientationCost(newFurnitures);
double Cd_pair = PriorPairwiseDistanceCost(newFurnitures);//dont forget to update furntures cemters
double Cv = VisibilityCost(newFurnitures);
return TotalCost(Ca, Cd_pr, Ctheta_pr, Cv, Cd_pair); //Cd_pair, Ctheta_pair
}
//calculate acceptance probability of every random move
/*double optimize::AcceptanceProbability(double currentTotalCost, double newTotalCost, double temp) {
return min(exp((currentTotalCost - newTotalCost) / temp), 1.0); //Metropolis criterian
}*/
vector<shape> optimize::GenerateRandomMovement(vector<shape> newFurnitures) {
//generate random number with normal distribution
normal_distribution<> distribution_normal(0.0, 1.0);
//generate random number for choosing an object(candidate)
uniform_int_distribution<> distribution_candidate(0, newFurnitures.size() - 1);
//declaration of dp as Vector3 and a new variable to save the new p(center of object)
Vector2 randomPosition, newPosition;
//decalre candidate number and choose one
int candidate;
// candidate = distribution_candidate(generator);
bool pass = false;
do {
candidate = distribution_candidate(generator);
//set random values to dp with normal distribution
randomPosition = set_points(distribution_normal(generator), distribution_normal(generator));
//replace new candidate to vector p
newPosition = add(glmToVector2(newFurnitures[candidate].getPosition()), randomPosition);
double currentDistance;
//we get all prior distances(distance to closest wall)
currentDistance = GetDistanceFromClosestWall(newPosition);
double priorDistance = GetDistanceFromClosestWall(glmToVector2(priorFurnitures[newFurnitures[candidate].getName()].getPosition()));
//check if we didnt extend boundaries
if (newPosition.x > -(0.5*w) && newPosition.x < (0.5*w) && newPosition.y > -(0.5*l) && newPosition.y < (0.5*l) && currentDistance >= priorDistance)
{
pass = true;
}
} while (!pass);
float y = newFurnitures[candidate].getPosition().y;
newFurnitures[candidate].setPosition(newPosition.x, y, newPosition.y);
return newFurnitures;
}
vector<shape> optimize::SwapRandomObjects(vector<shape> newFurnitures) {//generate random move or random swapping between 2 furnitures
//generate random number for choosing an object(candidate)
uniform_int_distribution<> distribution_candidate(0, newFurnitures.size() - 1);
//declare temp variables for swapping
glm::vec3 position1, position2;
//declare two random candidates for swapping
int candidate_1, candidate_2;
candidate_1 = distribution_candidate(generator);
candidate_2 = distribution_candidate(generator);
//we check that candidate 1 and candidate 2 are not the same object
while (candidate_1 == candidate_2) candidate_2 = distribution_candidate(generator);//candidate 2 should be changed
//swap objects centers
position1 = newFurnitures[candidate_1].getPosition();
position2 = newFurnitures[candidate_2].getPosition();
newFurnitures[candidate_1].setPosition(position2.x, position1.y, position2.z);
newFurnitures[candidate_2].setPosition(position1.x, position2.y, position1.z);
return newFurnitures;
}
vector<shape> optimize::GenerateRandomTheta(vector<shape> newFurnitures) {//generate random angle theta
//generate random number with normal distribution
normal_distribution<> distribution_normal(0.0, 1.0);
//generate random number for choosing an object(candidate)
uniform_int_distribution<> distribution_candidate(0, newFurnitures.size() - 1);
double randomNumber;
//declare candidate number and choose one
int candidate;
int count = 0;
candidate = distribution_candidate(generator);
//set random value to theta with normal distribution
randomNumber = distribution_normal(generator);
double oldOrientation = newFurnitures[candidate].getAngle();
newFurnitures[candidate].setAngle(oldOrientation + randomNumber);
while (newFurnitures[candidate].getAngle() >= 360) {
double orientation = newFurnitures[candidate].getAngle();
newFurnitures[candidate].setAngle(orientation - 360);
}
while (newFurnitures[candidate].getAngle() < 0) {
double orientation = newFurnitures[candidate].getAngle();
newFurnitures[candidate].setAngle(360 - orientation);
}
return newFurnitures;
}
vector<shape> optimize::FixAngle(vector<shape> newFurnitures) {
for (int i = 0; i < newFurnitures.size(); ++i)
{
double priorAngle = priorFurnitures[newFurnitures[i].getName()].getAngle(); // Get prior angle
Vector2 priorPosition = glmToVector2(priorFurnitures[newFurnitures[i].getName()].getPosition());
double currentAngle = newFurnitures[i].getAngle();
Vector2 currentCenter = glmToVector2(newFurnitures[i].getPosition());
double thetaDiff = priorAngle - currentAngle;
string currentClosestWallName = "";
string priorClosestWallName = "";
double initialAngleDifference = 0;
currentClosestWallName = GetClosestWallName(currentCenter);
priorClosestWallName = GetClosestWallName(priorPosition);
if (priorClosestWallName == "Wall1") {
if (priorAngle != 180.0) {
initialAngleDifference = abs(180.0 - priorAngle);
}
}
else if (priorClosestWallName == "Wall2") {
if (priorAngle != 270.0) {
initialAngleDifference = abs(270.0 - priorAngle);
}
}
else if (priorClosestWallName == "Wall3") {
if (priorAngle != 0.0) {
initialAngleDifference = abs(0.0 - priorAngle);
}
}
else if (priorClosestWallName == "Wall4") {
if (priorAngle != 90.0) {
initialAngleDifference = abs(90.0 - priorAngle);
}
}
if (currentClosestWallName == "Wall1") {
newFurnitures[i].setAngle(180.0 + initialAngleDifference + thetaDiff);
}
else if (currentClosestWallName == "Wall2") {
newFurnitures[i].setAngle(270.0 + initialAngleDifference + thetaDiff);
}
else if (currentClosestWallName == "Wall3") {
newFurnitures[i].setAngle(0.0 + initialAngleDifference + thetaDiff);
}
else if (currentClosestWallName == "Wall4") {
newFurnitures[i].setAngle(90.0 + initialAngleDifference + thetaDiff);
}
while (newFurnitures[i].getAngle() >= 360) {
double orientation = newFurnitures[i].getAngle();
newFurnitures[i].setAngle(orientation - 360);
}
while (newFurnitures[i].getAngle() < 0) {
double orientation = newFurnitures[i].getAngle();
newFurnitures[i].setAngle(360 - orientation);
}
}
return newFurnitures;
}
vector<shape> optimize::RandomInitialPosition(vector<shape> newFurnitures) {//generate random starting position of furnitures
int i = 0;
while (i < 10000) {
newFurnitures = GenerateRandomMovement(newFurnitures);
newFurnitures = GenerateRandomTheta(newFurnitures);
newFurnitures = SwapRandomObjects(newFurnitures);
i++;
}
return newFurnitures;
}
//positive examples means all the furnitures are on the right place
void optimize::HillClimbing() {//main function for hill climbing
//generate vectors for centers, diagonals, prior distance
int num_evaluations = 0;
int max_evaluations = 15000;
vector<shape> furnitures;
vector<shape> newFurnitures;
double newTotalCost, currentTotalCost;
int iteration = 0;
int random_move; //proposed moves: translation,rotation,swapping
uniform_real_distribution<> distribution(0.0, 1.0);//generate random number on range [0,1)
uniform_int_distribution<> distribution_move(0, 2);//generate random number on range [0,2], for which random move to make
for (auto fur : priorFurnitures) //get positive examples from prior furnitures
{
furnitures.push_back(fur.second);//second because in the map the second value is the shape
newFurnitures.push_back(fur.second);
}
newFurnitures = RandomInitialPosition(newFurnitures);//give random centers and angles of objects
furnitures = newFurnitures;
///////////////////////////////**********************the current total cost should be negated
currentTotalCost = -CalculateCostFunctions(newFurnitures);//calculate cost function
while (num_evaluations < max_evaluations) {
//generate random integer number
random_move = distribution_move(generator);//generate random number for random move
//generate new random position
if (random_move == 0) {
newFurnitures = GenerateRandomMovement(newFurnitures);
}
else if (random_move == 1) {
newFurnitures = SwapRandomObjects(newFurnitures);
}
else {
newFurnitures = GenerateRandomTheta(newFurnitures);//generate new angle theta
}
//calculate new total cost function
////////////////////////********************also this cost will be negated
newTotalCost = -CalculateCostFunctions(newFurnitures);
if (newTotalCost > currentTotalCost) {
currentTotalCost = newTotalCost;
furnitures = newFurnitures;
}
else {
newFurnitures = furnitures;
}
if (num_evaluations % 5000 == 0) {
DebugSimAn(num_evaluations, currentTotalCost, newTotalCost);
SetFurnitures(furnitures);
visualisation::render test(room);
}
//update iterations
num_evaluations++;
}
DebugSimAn(num_evaluations, currentTotalCost, newTotalCost);
furnitures = FixAngle(furnitures);
SetFurnitures(furnitures);
visualisation::render test(room);//render final room
}
//for debugging pruposes
void optimize::DebugSimAn(int iteration, double current_c, double new_c) {
cout << "Iteration: " << iteration << endl;
cout << "Total Cost: " << current_c << endl;
cout << "New total cost: " << new_c << endl;
}
}