interval.hpp

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// Copyright 2020 Mapless AI, Inc.
//
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#ifndef GEOMETRY__INTERVAL_HPP_
#define GEOMETRY__INTERVAL_HPP_
 
#include <algorithm>
#include <cmath>
#include <iostream>
#include <limits>
#include <sstream>
#include <stdexcept>
#include <string>
#include <type_traits>
#include <utility>
 
#include "common/types.hpp"
#include "helper_functions/float_comparisons.hpp"
 
namespace autoware
{
namespace common
{
namespace geometry
{
 
template<typename T>
class Interval
{
  static_assert(
    std::is_floating_point<T>::value,
    "Intervals only support floating point types.");
 
public:
  friend bool operator==(const Interval & i1, const Interval & i2)
  {
    const auto min_eq = (Interval::min(i1) == Interval::min(i2));
    const auto max_eq = (Interval::max(i1) == Interval::max(i2));
    const auto bounds_equal = (min_eq && max_eq);
    const auto both_empty = (Interval::empty(i1) && Interval::empty(i2));
    return both_empty || bounds_equal;
  }
 
  friend bool operator!=(const Interval & i1, const Interval & i2)
  {
    return !(i1 == i2);
  }
 
  friend std::ostream & operator<<(std::ostream & os, const Interval & i)
  {
    constexpr auto PRECISION = 5;
 
    // Internal helper to format the output.
    const auto readable_extremum = [](const T & val) {
        if (val == std::numeric_limits<T>::lowest()) {
          return std::string("REAL_MIN");
        }
        if (val == std::numeric_limits<T>::max()) {
          return std::string("REAL_MAX");
        }
 
        std::stringstream ss;
        ss.setf(std::ios::fixed, std::ios::floatfield);
        ss.precision(PRECISION);
        ss << val;
        return ss.str();
      };
 
    // Do stream output.
    if (Interval::empty(i)) {
      return os << "{}";
    }
    return os << "{\"min\": " << readable_extremum(Interval::min(i)) <<
           ", \"max\": " << readable_extremum(Interval::max(i)) << "}";
  }
 
  static bool abs_eq(const Interval & i1, const Interval & i2, const T & eps);
 
  static T min(const Interval & i) {return i.min_;}
 
  static T max(const Interval & i) {return i.max_;}
 
  static T measure(const Interval & i);
 
  static bool zero_measure(const Interval & i);
 
  static bool empty(const Interval & i);
 
  static bool contains(const Interval & i, const T & value);
 
  static bool is_subset_eq(const Interval & i1, const Interval & i2);
 
  static Interval intersect(const Interval & i1, const Interval & i2);
 
  static T clamp_to(const Interval & i, T val);
 
  Interval();
 
  Interval(const T & min, const T & max);
 
private:
  static constexpr T NaN = std::numeric_limits<T>::quiet_NaN();
 
  T min_;
  T max_;
 
  static bool bounds_valid(const Interval & i);
};  // class Interval
 
//------------------------------------------------------------------------------
 
typedef Interval<autoware::common::types::float64_t> Interval_d;
typedef Interval<autoware::common::types::float32_t> Interval_f;
 
//------------------------------------------------------------------------------
 
template<typename T>
constexpr T Interval<T>::NaN;
 
//------------------------------------------------------------------------------
 
template<typename T>
Interval<T>::Interval()
: min_(Interval::NaN), max_(Interval::NaN) {}
 
//------------------------------------------------------------------------------
 
template<typename T>
Interval<T>::Interval(const T & min, const T & max)
: min_(min), max_(max)
{
  if (!Interval::bounds_valid(*this)) {
    std::stringstream ss;
    ss << "Attempted to construct an invalid interval: " << *this;
    throw std::runtime_error(ss.str());
  }
}
 
//------------------------------------------------------------------------------
 
template<typename T>
bool Interval<T>::abs_eq(
  const Interval & i1, const Interval & i2, const T & eps)
{
  namespace comp = helper_functions::comparisons;
 
  const auto both_empty = Interval::empty(i1) && Interval::empty(i2);
  const auto both_non_empty = !Interval::empty(i1) && !Interval::empty(i2);
 
  const auto mins_equal = comp::abs_eq(Interval::min(i1), Interval::min(i2), eps);
  const auto maxs_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps);
  const auto both_non_empty_equal = both_non_empty && mins_equal && maxs_equal;
 
  return both_empty || both_non_empty_equal;
}
 
//------------------------------------------------------------------------------
 
template<typename T>
bool Interval<T>::zero_measure(const Interval & i)
{
  // An empty interval will return false because (NaN == NaN) is false.
  return Interval::min(i) == Interval::max(i);
}
 
//------------------------------------------------------------------------------
 
template<typename T>
bool Interval<T>::empty(const Interval & i)
{
  return std::isnan(Interval::min(i)) && std::isnan(Interval::max(i));
}
 
//------------------------------------------------------------------------------
 
template<typename T>
bool Interval<T>::bounds_valid(const Interval & i)
{
  const auto is_ordered = (Interval::min(i) <= Interval::max(i));
 
  // Check for emptiness expicitly because it requires both bounds to be NaN
  return Interval::empty(i) || is_ordered;
}
 
//------------------------------------------------------------------------------
 
template<typename T>
bool Interval<T>::is_subset_eq(const Interval & i1, const Interval & i2)
{
  const auto lower_contained = (Interval::min(i1) >= Interval::min(i2));
  const auto upper_contained = (Interval::max(i1) <= Interval::max(i2));
  return lower_contained && upper_contained;
}
 
//------------------------------------------------------------------------------
 
template<typename T>
bool Interval<T>::contains(const Interval & i, const T & value)
{
  return (value >= Interval::min(i)) && (value <= Interval::max(i));
}
 
//------------------------------------------------------------------------------
 
template<typename T>
T Interval<T>::measure(const Interval & i)
{
  return Interval::max(i) - Interval::min(i);
}
 
//------------------------------------------------------------------------------
 
template<typename T>
Interval<T> Interval<T>::intersect(const Interval & i1, const Interval & i2)
{
  // Construct intersection assuming an intersection exists.
  try {
    const auto either_empty = Interval::empty(i1) || Interval::empty(i2);
    const auto min = std::max(Interval::min(i1), Interval::min(i2));
    const auto max = std::min(Interval::max(i1), Interval::max(i2));
    return either_empty ? Interval() : Interval(min, max);
  } catch (...) {
  }
 
  // Otherwise, the intersection is empty.
  return Interval();
}
 
//------------------------------------------------------------------------------
 
template<typename T>
T Interval<T>::clamp_to(const Interval & i, T val)
{
  // clamp val to min
  val = std::max(val, Interval::min(i));
 
  // clamp val to max
  val = std::min(val, Interval::max(i));
 
  return Interval::empty(i) ? Interval::NaN : val;
}
 
//------------------------------------------------------------------------------
 
}  // namespace geometry
}  // namespace common
}  // namespace autoware
 
#endif  // GEOMETRY__INTERVAL_HPP_