mtt: /home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/munkres.h Source File

00001 
00006 /*
00007  *   Copyright (c) 2007 John Weaver
00008  *
00009  *   This program is free software; you can redistribute it and/or modify
00010  *   it under the terms of the GNU General Public License as published by
00011  *   the Free Software Foundation; either version 2 of the License, or
00012  *   (at your option) any later version.
00013  *
00014  *   This program is distributed in the hope that it will be useful,
00015  *   but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *   GNU General Public License for more details.
00018  *
00019  *   You should have received a copy of the GNU General Public License
00020  *   along with this program; if not, write to the Free Software
00021  *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
00022  */
00023 
00024 #if !defined(_MUNKRES_H_)
00025 #define _MUNKRES_H_
00026 
00027 #include <mtt/matrix.h>
00028 
00029 #include <cmath>
00030 #include <list>
00031 #include <utility>
00032 #include <vector>
00033 
00034 #include <Eigen/Dense>
00035 #include <Eigen/Cholesky>
00036 
00037 #include <boost/shared_ptr.hpp>
00038 
00039 using Eigen::MatrixXd;
00040 
00041 using namespace std;
00042 
00043 typedef struct 
00044 {
00045         int row, col;
00046         
00047 }orderedPair;
00048 
00049 typedef boost::shared_ptr<orderedPair> orderedPairPtr;
00050 
00051 
00052 class Munkres {
00053 public:
00054     void solve(Matrix<double> &m);
00055         double solve(MatrixXd& m_in,vector<orderedPairPtr>& results);
00056         
00057 private:
00058     static const int NORMAL = 0;
00059     static const int STAR = 1;
00060     static const int PRIME = 2; 
00061     inline bool find_uncovered_in_matrix(double,int&,int&);
00062     inline bool pair_in_list(const std::pair<int,int> &, const std::list<std::pair<int,int> > &);
00063     int step1(void);
00064     int step2(void);
00065     int step3(void);
00066     int step4(void);
00067     int step5(void);
00068     int step6(void);
00069     Matrix<int> mask_matrix;
00070     Matrix<double> matrix;
00071     bool *row_mask;
00072     bool *col_mask;
00073     int saverow, savecol;
00074 };
00075 
00076 #endif /* !defined(_MUNKRES_H_) */