PolytopeProjection.h

#ifndef POLYTOPE_PROJECTION_H
#define POLYTOPE_PROJECTION_H

#include <KrisLibrary/math3d/primitives.h>
#include <KrisLibrary/geometry/UnboundedPolytope2D.h>
#include <KrisLibrary/optimization/LinearProgram.h>
#include <KrisLibrary/optimization/LPRobust.h>
#include <list>

namespace Geometry {
  using namespace Math3D;

class LPSolvePointCallback
{
 public:
  LPSolvePointCallback(Optimization::LinearProgram& lp,int varx,int vary);
  LPSolvePointCallback(Optimization::LinearProgram_Sparse& lps,int varx,int vary);
  bool EvalExtremum(const Vector2& dir, Geometry::PointRay2D& x);

  int varx,vary;
  Optimization::LinearProgram* lp;
  Optimization::LinearProgram_Sparse* lps;
  Optimization::RobustLPSolver solver;
  bool unbounded_initialized;
  Optimization::LinearProgram lp_unbounded;
  Optimization::LinearProgram_Sparse lps_unbounded;
  Optimization::RobustLPSolver unboundedSolver;
  //stats 
  int numEvals;
};



class PolytopeProjection2D 
{
 public:
  PolytopeProjection2D(Optimization::LinearProgram& lp,int varx=0,int vary=1);
  PolytopeProjection2D(Optimization::LinearProgram_Sparse& lps,int varx=0,int vary=1);

  void Solve(UnboundedPolytope2D& poly);

  void Expand();

  void Create(UnboundedPolytope2D& poly) const;

  typedef std::list<Geometry::PointRay2D>::iterator PointIterator;

  void ExpandEdge(PointIterator i,int depth=0);

  LPSolvePointCallback f;
  std::list<Geometry::PointRay2D> points;
  int maxDepth;
};


} //namespace Geometry

#endif