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worked on grid-walker

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This commit is contained in:
k-a-z-u
2017-10-25 16:58:41 +02:00
parent feaa2ea12c
commit ea351d6377
4 changed files with 273 additions and 55 deletions
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204
grid/walk/v3/Helper.h
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@@ -6,10 +6,146 @@
#include "Structs.h"
#include <vector>
#include <set>
#include <KLib/math/random/RandomIterator.h>
//#define SHOW_DEBUG_PLOT
#ifdef SHOW_DEBUG_PLOT
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotPlot.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementColorPoints.h>
#endif
namespace GW3 {
/** get an iterator over all nodes reachable from the given start */
template <typename Node> class ReachableIteratorSorted {
const Grid<Node>& grid;
const Node& start;
struct Next {
uint32_t idx;
float distToStart;
Next(uint32_t idx, float distToStart) : idx(idx), distToStart(distToStart) {;}
/** compare by weight. same weight? : compare by pointer */
bool operator < (const Next& o) const {
return (distToStart != o.distToStart) ? (distToStart < o.distToStart) : (idx < o.idx);
}
};
Node* curNode = nullptr;
std::unordered_set<uint32_t> visited;
std::set<Next> toVisit;
public:
ReachableIteratorSorted(const Grid<Node>& grid, const Node& start) : grid(grid), start(start) {
toVisit.insert(Next(start.getIdx(),0));
}
bool hasNext() const {
return !toVisit.empty();
}
const Node& next() {
const Next cur = *(toVisit.begin()); // visit from inside out (needed for correct distance)
toVisit.erase(toVisit.begin());
visited.insert(cur.idx);
const Node& curNode = grid[cur.idx];
for (int i = 0; i < curNode.getNumNeighbors(); ++i) {
const int neighborIdx = curNode.getNeighborIdx(i);
const Node& neighbor = grid[neighborIdx];
const float newDist = cur.distToStart + curNode.getDistanceInMeter(neighbor);
// not yet reached -> store distance
if (visited.find(neighborIdx) == visited.end()) {
toVisit.insert(Next(neighborIdx, newDist));
}
}
// done
return curNode;
}
};
/** get an iterator over all nodes reachable from the given start */
template <typename Node> class ReachableIteratorUnsorted {
const Grid<Node>& grid;
const Node& start;
Node* curNode = nullptr;
std::unordered_set<uint32_t> visited;
std::vector<uint32_t> toVisit;
public:
ReachableIteratorUnsorted(const Grid<Node>& grid, const Node& start) : grid(grid), start(start) {
toVisit.push_back(start.getIdx());
}
bool hasNext() const {
return !toVisit.empty();
}
const Node& next(const std::function<bool(const Node&)>& skip) {
const uint32_t curIdx = toVisit.front(); //visit from inside out (needed for correct distance)
toVisit.erase(toVisit.begin());
visited.insert(curIdx);
const Node& curNode = grid[curIdx];
for (int i = 0; i < curNode.getNumNeighbors(); ++i) {
const int neighborIdx = curNode.getNeighborIdx(i);
const Node& neighbor = grid[neighborIdx];
// not yet reached -> store distance
if (!skip(neighbor)) {
if (visited.find(neighborIdx) == visited.end()) {
toVisit.push_back(neighborIdx);
}
}
}
// done
return curNode;
}
};
struct ReachableSettings {
float dist_m;
bool limitDistance = true;
Heading heading = Heading(0);
float maxHeadingDiff_rad;
bool limitHeading = false;
};
template <typename Node> class Helper {
public:
@@ -74,54 +210,80 @@ namespace GW3 {
return walks;
}
}
/** get all reachable nodes that are within a given range */
static Nodes<Node> getAllReachableNodes(Grid<Node>& grid, const Node* start, const float dist_m) {
static Nodes<Node> getAllReachableNodes(Grid<Node>& grid, const Node* start, const ReachableSettings& set ) {
//auto tStart = std::chrono::system_clock::now();
Nodes<Node> res;
std::unordered_map<uint32_t, float> distances;
std::vector<uint32_t> toVisit;
std::vector<uint32_t> toVisit; // std::queue was only barely faster: 900 vs 880 microseconds
toVisit.push_back(start->getIdx());
distances[start->getIdx()] = 0.0f;
#ifdef SHOW_DEBUG_PLOT
static K::Gnuplot gp;
K::GnuplotPlot plot;
K::GnuplotPlotElementColorPoints pts1; pts1.setPointType(7); pts1.setPointSize(1);
plot.add(&pts1);
#endif
while (!toVisit.empty()) {
int curIdx = toVisit.front();
const int curIdx = toVisit.front(); // visit from inside out (needed for correct distance)
toVisit.erase(toVisit.begin());
const Node& curNode = grid[curIdx];
const float curDistance = distances[curIdx];
res.push_back(&curNode); // remember for output
res.push_back(&curNode); // remember for output
if (curDistance <= dist_m) {
for (int i = 0; i < curNode.getNumNeighbors(); ++i) {
#ifdef SHOW_DEBUG_PLOT
pts1.add(K::GnuplotPoint2(curNode.x_cm, curNode.y_cm), curDistance);
gp.draw(plot);
gp.flush();
#endif
const int neighborIdx = curNode.getNeighborIdx(i);
const Node& neighbor = grid[neighborIdx];
const float addDist = neighbor.inMeter().getDistance(curNode.inMeter());
const float totalDist = curDistance + addDist;
for (int i = 0; i < curNode.getNumNeighbors(); ++i) {
// this is like in dijkstra. keep the smallest distance to reach a node:
const int neighborIdx = curNode.getNeighborIdx(i);
const Node& neighbor = grid[neighborIdx];
const float addDist = neighbor.getDistanceInMeter(curNode);
const float totalDist = curDistance + addDist;
// not yet reached -> store distance
if (distances.find(neighborIdx) == distances.end()) {
toVisit.push_back(neighborIdx);
distances[neighborIdx] = totalDist;
// this is like in dijkstra. keep the smallest distance to reach a node:
// reached earlier but found shorter way
} else {
if (distances[neighborIdx] > totalDist) {
distances[neighborIdx] = totalDist;
}
// not yet reached -> store distance
if (distances.find(neighborIdx) == distances.end()) {
distances[neighborIdx] = totalDist;
if (set.limitDistance) {
if (totalDist > set.dist_m) {continue;}
}
if (set.limitHeading) {
const Heading head(start->x_cm, start->y_cm, neighbor.x_cm, neighbor.y_cm); // angle between start and current node
const float diff = head.getDiffHalfRAD(set.heading); // difference between above angle and requested angle
if (diff > set.maxHeadingDiff_rad) {continue;} // more than 90 degree difference? -> ignore
}
toVisit.push_back(neighborIdx); // needs a visit? (still some distance left)
// reached earlier but found shorter way
} else if (distances[neighborIdx] > totalDist) {
distances[neighborIdx] = totalDist;
}
}
}
//auto tEnd = std::chrono::system_clock::now();
//auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(tEnd - tStart);
//std::cout << elapsed.count() << std::endl;
return res;
}