thirdParty/PCL 1.12.0/include/pcl-1.12/pcl/recognition/3rdparty/metslib/local-search.hh

// METS lib source file - local-search.hh                   -*- C++ -*-
//
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#ifndef LOCAL_SEARCH_HH_
#define LOCAL_SEARCH_HH_

namespace mets {
  /// @defgroup local_search Local Search
  /// @{

  /// @brief Local search algorithm. 
  ///
  /// With customary phase alternation
  /// and move managers generated neighborhood this can be used to do
  /// also a Random Restart Local Search, a Greedy Search,
  /// an Iterated Local Search and a Variable Neighborhood Search.
  template<typename move_manager_type>
  class local_search : public mets::abstract_search<move_manager_type>
  {
  public:
    /// @brief Creates a local search instance
    ///
    /// @param working The working solution (this will be modified
    /// during search) 
    ///
    /// @param best_so_far A different solution
    /// instance used to store the best solution found
    ///
    /// @param moveman A problem specific implementation of the
    /// move_manager_type concept used to generate the neighborhood.
    ///
    /// @param short_circuit Wether the search should stop on
    /// the first improving move or not.
    local_search(evaluable_solution& starting_point,
		 solution_recorder& recorder,
		 move_manager_type& moveman,
		 gol_type epsilon = 1e-7,
		 bool short_circuit = false);

    /// purposely not implemented (see Effective C++)
    local_search(const local_search&);
    local_search& operator=(const local_search&);
    
    /// @brief This method starts the local search process.
    ///
    /// To have a real local search you should provide an 
    /// move_manager_type than enumerates all feasible
    /// moves.
    ///
    virtual void
    search();

  protected:
    bool short_circuit_m;
    gol_type epsilon_m;
  };

  /// @}
  
}

template<typename move_manager_t>
mets::local_search<move_manager_t>::local_search(evaluable_solution& working,
						 solution_recorder& recorder,
						 move_manager_t& moveman,
						 gol_type epsilon,
						 bool short_circuit)
  : abstract_search<move_manager_t>(working, recorder, moveman),
    short_circuit_m(short_circuit), epsilon_m(epsilon)
{ 
  using base_t = abstract_search<move_manager_t>;
  base_t::step_m = 0; 
}

template<typename move_manager_t>
void
mets::local_search<move_manager_t>::search()
{
  using base_t = abstract_search<move_manager_t>;
  typename move_manager_t::iterator best_movit;

  base_t::solution_recorder_m.accept(base_t::working_solution_m);

  gol_type best_cost = 
    static_cast<mets::evaluable_solution&>(base_t::working_solution_m)
    .cost_function();

  do
    {
      base_t::moves_m.refresh(base_t::working_solution_m);
      best_movit = base_t::moves_m.end();
      for(typename move_manager_t::iterator movit = base_t::moves_m.begin();
	  movit != base_t::moves_m.end(); ++movit)
	{
	  // evaluate the cost after the move
	  gol_type cost = (*movit)->evaluate(base_t::working_solution_m);
	  if(cost < best_cost - epsilon_m)
	    {
	      best_cost = cost;
	      best_movit = movit;
	      if(short_circuit_m) break;
	    }
	} // end for each move
      
      if(best_movit != base_t::moves_m.end()) 
	{
	  (*best_movit)->apply(base_t::working_solution_m);
	  base_t::solution_recorder_m.accept(base_t::working_solution_m);
	  base_t::current_move_m = best_movit;
	  this->notify();
	}
      
    } while(best_movit != base_t::moves_m.end());
}
#endif