FHWS/Indoor
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added several grid-walks

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added new helper methods/classes (e.g. for heading)
new test cases
optimize the dijkstra
cleanups/refactoring
added timed-benchmarks to the log
many more...
This commit is contained in:
FrankE
2016-01-24 18:59:06 +01:00
parent cdf97322f8
commit 9947dced15
30 changed files with 1406 additions and 94 deletions
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62
nav/dijkstra/Dijkstra.h
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@@ -5,9 +5,11 @@
#include <vector>
#include <algorithm>
#include <unordered_set>
#include <list>
#include "DijkstraStructs.h"
#include "../../misc/Debug.h"
#include "../../misc/Time.h"
#include <KLib/Assertions.h>
@@ -19,26 +21,11 @@ template <typename T> class Dijkstra {
/** all already processed edges */
std::unordered_set<DijkstraEdge<T>> usedEdges;
/** to-be-processed nodes (USE LINKED LIST INSTEAD?!) */
/** to-be-processed nodes (NOTE: using std::list here was SLOWER!) */
std::vector<DijkstraNode<T>*> toBeProcessedNodes;
public:
/** get (or create) a new node for the given user-node */
DijkstraNode<T>* getNode(const T* userNode) {
if (nodes.find(userNode) == nodes.end()) {
DijkstraNode<T>* dn = new DijkstraNode<T>(userNode);
nodes[userNode] = dn;
}
return nodes[userNode];
}
/** get the edge (bi-directional) between the two given nodes */
DijkstraEdge<T> getEdge(const DijkstraNode<T>* n1, const DijkstraNode<T>* n2) {
return DijkstraEdge<T>(n1, n2);
}
/** get the dijkstra-pendant for the given user-node */
DijkstraNode<T>* getNode(const T& userNode) {
return nodes[&userNode];
@@ -50,7 +37,10 @@ public:
// NOTE: end is currently ignored!
// runs until all nodes were evaluated
Log::add("Dijkstra", "calculating dijkstra from " + (std::string)start);
// compare two nodes by their distance from the start
static auto comp = [] (const DijkstraNode<T>* n1, const DijkstraNode<T>* n2) {return n1->cumWeight < n2->cumWeight;};
Log::add("Dijkstra", "calculating dijkstra from " + (std::string)start + " to ALL OTHER nodes");
// cleanup
toBeProcessedNodes.clear();
@@ -71,10 +61,14 @@ public:
while(!toBeProcessedNodes.empty()) {
// get the next to-be-processed node
DijkstraNode<T>* dnSrc = toBeProcessedNodes[0];
const auto min = std::min_element(toBeProcessedNodes.begin(), toBeProcessedNodes.end(), comp);
DijkstraNode<T>* dnSrc = *min;
// stop when end was reached??
//if (dnSrc->element == &end) {break;}
// and remove him from the list
toBeProcessedNodes.erase(toBeProcessedNodes.begin());
toBeProcessedNodes.erase(min);
// process each neighbor of the current element
for (int i = 0; i < acc.getNumNeighbors(*dnSrc->element); ++i) {
@@ -90,7 +84,7 @@ public:
DijkstraNode<T>* dnDst = getNode(dst);
// get-or-create the edge describing the connection
DijkstraEdge<T> edge = getEdge(dnSrc, dnDst);
const DijkstraEdge<T> edge = getEdge(dnSrc, dnDst);
// was this edge already processed? -> skip it
if (usedEdges.find(edge) != usedEdges.end()) {continue;}
@@ -98,6 +92,8 @@ public:
// otherwise: remember it
usedEdges.insert(edge);
// and add the node for later processing
toBeProcessedNodes.push_back(dnDst);
@@ -110,18 +106,30 @@ public:
}
// sort the nodes by distance-from-start (shortest first)
auto comp = [] (const DijkstraNode<T>* n1, const DijkstraNode<T>* n2) {return n1->cumWeight < n2->cumWeight;};
std::sort(toBeProcessedNodes.begin(), toBeProcessedNodes.end(), comp);
}
Log::add("Dijkstra", "processed " + std::to_string(nodes.size()) + " nodes");
// cleanup
// reclaim temporal memory
toBeProcessedNodes.clear();
usedEdges.clear();
Log::add("Dijkstra", "processed " + std::to_string(nodes.size()) + " nodes");
}
private:
/** get (or create) a new node for the given user-node */
inline DijkstraNode<T>* getNode(const T* userNode) {
if (nodes.find(userNode) == nodes.end()) {
DijkstraNode<T>* dn = new DijkstraNode<T>(userNode);
nodes[userNode] = dn;
}
return nodes[userNode];
}
/** get the edge (bi-directional) between the two given nodes */
inline DijkstraEdge<T> getEdge(const DijkstraNode<T>* n1, const DijkstraNode<T>* n2) const {
return DijkstraEdge<T>(n1, n2);
}
};