kazu
4f511d907e
needed interface changes [new options] logger for android wifi-ap-optimization new test-cases
90 lines
2.6 KiB
C++
90 lines
2.6 KiB
C++
#ifndef DIJKSTRAPATH_H
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#define DIJKSTRAPATH_H
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#include "DijkstraStructs.h"
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#include <vector>
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#include "../../Assertions.h"
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/**
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* describes a dijkstra-generated path between end and start.
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* allows KNN searches for points within this path.
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*
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*/
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template <typename T> class DijkstraPath {
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private:
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/** the constructed path */
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std::vector<const DijkstraNode<T>*> path;
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public:
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/** empty ctor */
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DijkstraPath() {
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;
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}
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/** ctor from end- to start-node */
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DijkstraPath(const DijkstraNode<T>* end, const DijkstraNode<T>* start) {
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// sanity checks
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Assert::isNotNull(end, "end-node must not be null");
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Assert::isNotNull(start, "start-node must not be null");
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// follow the path from the end to the start
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const DijkstraNode<T>* curNode = end;
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while (curNode != start) {
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// sanity check in case no path between start and end exists
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Assert::isNotNull(curNode, "there is not path between start and end. did you accidentially swap start and end?");
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// append
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path.push_back(curNode);
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curNode = curNode->previous;
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}
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}
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/** allow iteration */
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decltype(path.begin()) begin() {return path.begin();}
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decltype(path.end()) end() {return path.end();}
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// decltype(path.begin()) begin() const {return ((std::vector<const DijkstraNode<T>*>)path).begin();}
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// decltype(path.end()) end() const {return ((std::vector<const DijkstraNode<T>*>)path).end();}
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const DijkstraNode<T>& operator [] (const int idx) const {return *(path[idx]);}
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size_t size() const {return path.size();}
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/** get the idx-th element from the starting-node. if this is beyond the end, the last node is returned */
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const DijkstraNode<T>& getFromStart(const int idx) const {return (idx >= (int) path.size()) ? (*path.back()) : (*path[idx]);}
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const std::vector<const DijkstraNode<T>*>& getVector() const {return path;}
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/** NANOFLANN: number of elements in the path */
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inline int kdtree_get_point_count() const {
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return path.size();
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}
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/** NANOFLANN: use default bbox */
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template <class BBOX> inline bool kdtree_get_bbox(BBOX& bb) const {
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(void) bb; return false;
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}
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/** NANOFLANN: get the idx-th elements dim-th dimension */
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inline float kdtree_get_pt(const size_t idx, const int dim) const {
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return (*(path[idx]->element))[dim];
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}
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/** NANOFLANN: get the distance between the given point and the idx-th element */
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inline float kdtree_distance(const float* p1, const size_t idx_p2, size_t) const {
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const DijkstraNode<T>* n = path[idx_p2];
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const float d0 = p1[0] - (*(n->element))[0];
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const float d1 = p1[1] - (*(n->element))[1];
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const float d2 = p1[2] - (*(n->element))[2];
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return (d0*d0) + (d1*d1) + (d2*d2);
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}
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};
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#endif // DIJKSTRAPATH_H
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