merged

CMakeLists.txt

@@ -69,6 +69,7 @@ ADD_DEFINITIONS(
 
 	-DWITH_TESTS
 	-DWITH_ASSERTIONS
+	-DWITH_DEBUG_LOG
 	-march=native
 
 )

grid/walk/GridWalkLightAtTheEndOfTheTunnel.h

@@ -49,7 +49,7 @@ public:
 		gen.seed(1234);
 
 		// build all shortest path to reach th target
-		dijkstra.build(target, target, acc);
+		dijkstra.build(&target, acc);
 
 		// attach a corresponding weight-information to each user-grid-node
 		for (T& node : grid) {

grid/walk/GridWalkPathControl.h

@@ -45,7 +45,7 @@ public:
 		gen.seed(1234);
 
 		// build all shortest path to reach th target
-		dijkstra.build(target, target, acc);
+		dijkstra.build(&target, acc);
 
 		// attach a corresponding weight-information to each user-grid-node
 		for (T& node : grid) {

grid/walk/GridWalkShortestPathControl.h

@@ -108,7 +108,7 @@ public:
 		gen.seed(1234);
 
 		// build all shortest path to reach th target
-		dijkstra.build(target, target, acc);
+		dijkstra.build(&target, acc);
 
 	}
 

misc/Debug.h

@@ -9,12 +9,12 @@
 /** quick and dirty workaround */
 static decltype(Time::tick()) LogLastTick;
 
+#ifdef WITH_DEBUG_LOG
+
 class Log {
 
 public:
 
-
-
 	static void add(const char* comp, const std::string what, const bool nl = true) {
 		addComp(comp);
 		std::cout << what;
@@ -50,4 +50,16 @@ private:
 
 };
 
+#else
+
+class Log {
+public:
+	static void add(const char* comp, const std::string what, const bool nl = true) { (void)comp; (void) what; (void) nl; }
+	static void add(const std::string& component, const std::string what, const bool nl = true) { (void)component; (void) what; (void) nl; }
+	static void tick() {;}
+	static void tock() {;}
+};
+
+#endif
+
 #endif // DEBUG_H

nav/dijkstra/Dijkstra.h

@@ -22,20 +22,34 @@ template <typename T> class Dijkstra {
 
 public:
 
+	/** dtor: cleanup */
+	~Dijkstra() {
+		for (auto it : nodes) {delete it.second;}
+	}
+
 	/** get the dijkstra-pendant for the given user-node. null if none matches */
 	DijkstraNode<T>* getNode(const T& userNode) const {
 		auto it = nodes.find(&userNode);
 		return (unlikely(it == nodes.end())) ? (nullptr) : (it->second);
 	}
 
-	/** build shortest path from start to end using the provided wrapper-class */
+	/** calculate all shortest paths from ANY node to the given destination */
-	template <typename Access> void build(const T& start, const T& end, const Access& acc) {
+	template <typename Access> void build(const T* end, const Access& acc) {
+		build(end, nullptr, acc, NAN);
+	}
+
+	/**
+	 * build the shortest path from start to end using the provided access-wrapper-class.
+	 * if end is null, the algorithm will terminate only if every possible node was checked.
+	 * if given, the algorithm will also terminate if the current distance is already > the given maximum
+	 */
+	template <typename Access> void build(const T* start, const T* end, const Access& acc, const float maxWeight = 0) {
 
 		// NOTE: end is currently ignored!
 		// runs until all nodes were evaluated
 		(void) end;
 
-		Log::add("Dijkstra", "calculating dijkstra from " + (std::string)start + " to ALL OTHER nodes", false);
+		Log::add("Dijkstra", "calculating dijkstra from " + (std::string)*start + " to ALL OTHER nodes", false);
 		Log::tick();
 
 		// cleanup previous runs
@@ -45,7 +59,7 @@ public:
 		ToProcess toBeProcessedNodes;
 
 		// run from start
-		const T* cur = &start;
+		const T* cur = start;
 
 		// create a node for the start element
 		DijkstraNode<T>* dnStart = getOrCreateNode(cur);
@@ -60,8 +74,11 @@ public:
 			// get the next to-be-processed node
 			DijkstraNode<T>* dnSrc = toBeProcessedNodes.pop();
 
-			// stop when end was reached??
+			// when an end is given, stop when end was reached
-            //if (dnSrc->element == &end) {break;}
+			if (end != nullptr && dnSrc->element == end) {break;}
+
+			// when a maximum weight is given, stop when current cum-dist > maxWeight
+			if (maxWeight != 0 && dnSrc->cumWeight > maxWeight) {break;}
 
 			// visit (and maybe update) each neighbor of the current element
 			for (int i = 0; i < acc.getNumNeighbors(*dnSrc->element); ++i) {

tests/grid/TestAll.cpp

@@ -53,7 +53,7 @@ TEST(TestAll, Nav) {
 	const GP& start = g.getNodeFor(GridPoint(500,200,20));
 	const GP& end = g.getNodeFor(GridPoint(1200,200,340));
 	//const GP& end = g.getNodeFor(GridPoint(1300,1300,20));
-	d.build(start, end, tmp);
+	d.build(&start, &end, tmp);
 
 	// add the path's importance to the grid
 	gi.addImportance(g, d.getNode(start), d.getNode(end));

tests/nav/dijkstra/TestDijkstra.cpp

@@ -31,7 +31,7 @@ TEST(Dijkstra, build) {
 	} tmp(grid);
 
 	Dijkstra<GP> d;
-	d.build(grid[idx5], grid[idx3], tmp);
+	d.build(&grid[idx5], &grid[idx3], tmp, 99999);
 
 	// start node must be "idx5"
 	DijkstraNode<GP>* n = d.getNode(grid[idx5]);
@@ -98,7 +98,7 @@ void dijkstra(Grid<GP>& grid) {
 	} tmp(grid);
 
 	Dijkstra<GP> d;
-	d.build(grid[0], grid[0], tmp);
+	d.build(&grid[0], tmp);
 
 }