added new data-structures

added new test-cases
added flexible dijkstra calculation
added debugging log
modified: plotting, grid-generation, grid-importance,
refactoring

nav/dijkstra/DijkstraStructs.h

@@ -0,0 +1,77 @@
+#ifndef DIJKSTRANODE_H
+#define DIJKSTRANODE_H
+
+/**
+ * wrapper around a user data structure
+ * adds additional fields needed for dijkstra calculation
+ */
+template <typename T> struct DijkstraNode {
+
+	/** pos infinity */
+	static constexpr float INF = +99999999;
+
+	/** the user-element this node describes */
+	const T* element;
+
+	/** the previous dijkstra node (navigation path) */
+	DijkstraNode<T>* previous;
+
+	/** the weight from the start up to this element */
+	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;
+	}
+
+};
+
+/**
+ * data structure describing the connection between two nodes
+ * only used to track already processed connections!
+ */
+template <typename T> struct DijkstraEdge {
+
+	/** the edge's source */
+	const DijkstraNode<T>* src;
+
+	/** the edge's destination */
+	const DijkstraNode<T>* dst;
+
+	/** ctor */
+	DijkstraEdge(const DijkstraNode<T>* src, const DijkstraNode<T>* dst) : src(src), dst(dst) {;}
+
+	/** equal? (bi-dir) */
+	bool operator == (const DijkstraEdge& other) const {
+		return	((dst == other.dst) && (src == other.src)) ||
+				((src == other.dst) && (dst == other.src));
+	}
+
+};
+
+//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) {;}
+
+//};
+
+namespace std {
+	template <typename T> struct hash<DijkstraEdge<T>>{
+		size_t operator()(const DijkstraEdge<T>& e) const {
+			return hash<size_t>()( (size_t)e.src^(size_t)e.dst);
+		}
+	};
+}
+
+#endif // DIJKSTRANODE_H