FHWS/Indoor
Archived
4
0
Fork 0
Code Issues 19 Pull Requests Releases 1 Wiki Activity

added several grid-walks

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

27
nav/dijkstra/DijkstraStructs.h
View File

@@ -20,23 +20,20 @@ template <typename T> struct DijkstraNode {
float cumWeight;
// /** ctor */
// DijkstraNode() : element(nullptr), previous(), cumWeight(INF) {;}
/** ctor */
DijkstraNode(const T* element) : element(element), previous(), cumWeight(INF) {;}
/** equal? (bi-dir) */
bool operator == (const DijkstraNode<T>& other) {
return element == other.element;
}
// /** equal? (bi-dir) */
// bool operator == (const DijkstraNode<T>& other) const {
// return element == other.element;
// }
};
/**
* data structure describing the connection between two nodes
* only used to track already processed connections!
* data structure describing the connection between two nodes.
* NOTE: only used to track already processed connections!
*/
template <typename T> struct DijkstraEdge {
@@ -49,7 +46,7 @@ template <typename T> struct DijkstraEdge {
/** ctor */
DijkstraEdge(const DijkstraNode<T>* src, const DijkstraNode<T>* dst) : src(src), dst(dst) {;}
/** equal? (bi-dir) */
/** equal? (bi-directional! edge direction does NOT matter) */
bool operator == (const DijkstraEdge& other) const {
return ((dst == other.dst) && (src == other.src)) ||
((src == other.dst) && (dst == other.src));
@@ -57,15 +54,7 @@ template <typename T> struct DijkstraEdge {
};
//template <typename T> struct DijkstraEdgeWeighted : public DijkstraEdge<T> {
// /** the edge's weight */
// float weight;
// DijkstraEdgeWeighted(const DijkstraNode<T>* src, const DijkstraNode<T>* dst, const float weight) : DijkstraEdge<T>(src,dst), weight(weight) {;}
//};
/** allows adding DijkstraEdge<T> to hash-maps */
namespace std {
template <typename T> struct hash<DijkstraEdge<T>>{
size_t operator()(const DijkstraEdge<T>& e) const {