FHWS/Indoor
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added new data-structures

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added new test-cases
added flexible dijkstra calculation
added debugging log
modified: plotting, grid-generation, grid-importance,
refactoring
This commit is contained in:
FrankE
2016-01-22 18:47:06 +01:00
parent 12084fe147
commit cdf97322f8
21 changed files with 720 additions and 141 deletions
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51
tests/nav/dijkstra/TestDijkstra.cpp Normal file
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#ifdef WITH_TESTS
#include "../../Tests.h"
#include "../../../grid/Grid.h"
#include "../../../nav/dijkstra/Dijkstra.h"
#include "../../grid/Plot.h"
TEST(Dijkstra, build) {
Grid<1, GP> grid;
int idx1 = grid.add(GP( 0, 0, 0));
int idx2 = grid.add(GP( 0, 1, 0));
int idx3 = grid.add(GP( 0,-1, 0));
int idx4 = grid.add(GP( 1, 0, 0));
int idx5 = grid.add(GP(-1, 0, 0));
grid.connectBiDir(idx1, idx2);
grid.connectBiDir(idx1, idx3);
grid.connectBiDir(idx1, idx4);
grid.connectBiDir(idx1, idx5);
class TMP {
Grid<1, GP>& grid;
public:
TMP(Grid<1, GP>& grid) : grid(grid) {;}
int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
float getWeightBetween(const GP& n1, const GP& n2) const {return ((Point3)n1 - (Point3)n2).length();}
} tmp(grid);
Dijkstra<GP> d;
d.build(grid[idx5], grid[idx3], tmp);
// start node must be "idx5"
DijkstraNode<GP>* n = d.getNode(grid[idx5]);
ASSERT_EQ(&grid[idx5], n->element); ASSERT_EQ(nullptr, n->previous); ASSERT_EQ(0, n->cumWeight);
// "idx1" (the center) is reached via idx5
DijkstraNode<GP>* n2 = d.getNode(grid[idx1]);
ASSERT_EQ(&grid[idx1], n2->element); ASSERT_EQ(&grid[idx5], n2->previous->element);
// "idx3" (the target) is reached via idx1 (the center)
DijkstraNode<GP>* n3 = d.getNode(grid[idx3]);
ASSERT_EQ(&grid[idx3], n3->element); ASSERT_EQ(&grid[idx1], n3->previous->element);
}
#endif