Reasoner
Class ConstraintPropagator.Partition

java.lang.Object
  |
  +--Reasoner.ConstraintPropagator.Partition

Enclosing class:

ConstraintPropagator

private class ConstraintPropagator.Partition

extends java.lang.Object

Maintains the contents of a partition of object inferences that reference each other and no object inferences in other partitions.

Field Summary

java.util.ArrayList	adjacencies
int	partition_num

Constructor Summary

private

ConstraintPropagator.Partition()

Method Summary

void	addAdjacency(ConstraintPropagator.Adjacency adjacency) Adds an adjacency to this partition.
private void	applyDOFAdjustments(ObjectInference object_inference, DOFAdjustmentNode dof_adjustment) Applies a degree-of-freedom adjustment (if present) to the position and/or attitude of an object inference.
private void	assignCardinalDirections() Assigns a random attitude to each object inference in this partition based on whether it has a constraint to face a cardinal direction.
private void	buildTransitiveClosure(ObjectInference source_object_inference, java.util.HashMap transitive_closures) Builds the transitive closure of the 'in' relation to indicate which object inferences may interpenetrate an object inference.
private void	buildTransitiveClosures() Builds the transitive closure of the 'in' relation to indicate which object inferences may interpenetrate each other.
private boolean	containsRelationship(ObjectInference object_inference1, ObjectInference object_inference2, java.lang.String relation_name) Returns whether two object inferences participate in a relationship (in either direction).
private ConstraintPropagator.Adjacency	getObjectInference(ObjectInference object_inference) Returns the first adjacency containing an object inference.
private boolean	isTransitivelyEnclosed(ObjectInference object_inference1, ObjectInference object_inference2) Returns whether two object inferences are linked through a transitive closure of the 'in' relation.
private int	propagate(int max_attempts) Propagates the constraints in this partition.
private void	resetPropagationStates() Resets the position and attitude states of all object inferences in this partition.
private void	sort(int sort_mode) Orders the object inferences in this partition.
java.lang.String	toString() Returns a string representation of this class.
private boolean	verifyNonInterpenetration(ObjectInference base_object_inference) Returns whether an object inference penetrates an other object inference when it is not allowed to.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

adjacencies

public java.util.ArrayList adjacencies

partition_num

public int partition_num

Constructor Detail

ConstraintPropagator.Partition

private ConstraintPropagator.Partition()

Method Detail

addAdjacency

public void addAdjacency(ConstraintPropagator.Adjacency adjacency)

Adds an adjacency to this partition.

Parameters:

adjacency - - the adjacency

applyDOFAdjustments

private void applyDOFAdjustments(ObjectInference object_inference,
                                 DOFAdjustmentNode dof_adjustment)

Applies a degree-of-freedom adjustment (if present) to the position and/or attitude of an object inference.

Parameters:

object_inference - - the object inference

dof_adjustment - - the degree-of-freedom adjustment, which can be null

assignCardinalDirections

private void assignCardinalDirections()
                               throws java.lang.Exception

Assigns a random attitude to each object inference in this partition based on whether it has a constraint to face a cardinal direction.

Throws:

java.lang.Exception - - if the constrain is malformed

buildTransitiveClosure

private void buildTransitiveClosure(ObjectInference source_object_inference,
                                    java.util.HashMap transitive_closures)

Builds the transitive closure of the 'in' relation to indicate which object inferences may interpenetrate an object inference.

Parameters:

source_object_inference - - the object inference serving as the source of the closure

transitive_closures - - the list of closures to build. This is an in/out parameter

buildTransitiveClosures

private void buildTransitiveClosures()

Builds the transitive closure of the 'in' relation to indicate which object inferences may interpenetrate each other.

containsRelationship

private boolean containsRelationship(ObjectInference object_inference1,
                                     ObjectInference object_inference2,
                                     java.lang.String relation_name)

Returns whether two object inferences participate in a relationship (in either direction).

Parameters:

object_inference1 - - an object inference

object_inference2 - - an object inference

relation_name - - the relation

Returns:

the outcome

isTransitivelyEnclosed

private boolean isTransitivelyEnclosed(ObjectInference object_inference1,
                                       ObjectInference object_inference2)

Returns whether two object inferences are linked through a transitive closure of the 'in' relation.

Parameters:

object_inference1 - - the source object inference

object_inference2 - - the target object inference

Returns:

the outcome

getObjectInference

private ConstraintPropagator.Adjacency getObjectInference(ObjectInference object_inference)

Returns the first adjacency containing an object inference. This is normally used to determine whether the object inference is present in an adjacency by comparing the result against null.

Parameters:

object_inference - - the object inference to check for

Returns:

the adjacency, or null if the object inference is not present

propagate

private int propagate(int max_attempts)
               throws java.lang.Exception

Propagates the constraints in this partition. A solution is verified against all previously propagaged object inferences to prevent violations of the system-level selective non-interpenetration constraint.

Returns:

the number of propagations taken to reach a solution, or 0 if propagation failed

Throws:

java.lang.Exception - - if propagation fails

resetPropagationStates

private void resetPropagationStates()

Resets the position and attitude states of all object inferences in this partition.

sort

private void sort(int sort_mode)

Orders the object inferences in this partition.

Parameters:

sort_mode - - the ordering: 1 for descending by cardinality, 2 for ascending by cardinality, and 3 or higher for randomized. Literal values are used instead of constants to allow this to be driven by a counter

toString

public java.lang.String toString()

Returns a string representation of this class.

Overrides:

toString in class java.lang.Object

Returns:

the String representation

verifyNonInterpenetration

private boolean verifyNonInterpenetration(ObjectInference base_object_inference)
                                   throws java.lang.Exception

Returns whether an object inference penetrates an other object inference when it is not allowed to.

Parameters:

base_object_inference - - the object inference

Returns:

true if no interpenetration

Throws:

java.lang.Exception - - if verification fails (due to a developer error)