kazu
4f511d907e
needed interface changes [new options] logger for android wifi-ap-optimization new test-cases
118 lines
2.9 KiB
C++
118 lines
2.9 KiB
C++
#ifdef WITH_TESTS
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#include "../../Tests.h"
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#include "../../../grid/Grid.h"
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#include "../../../nav/dijkstra/Dijkstra.h"
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#include "../../grid/Plot.h"
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TEST(Dijkstra, build) {
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Grid<GP> grid(1);
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int idx1 = grid.add(GP( 0, 0, 0));
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int idx2 = grid.add(GP( 0, 1, 0));
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int idx3 = grid.add(GP( 0,-1, 0));
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int idx4 = grid.add(GP( 1, 0, 0));
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int idx5 = grid.add(GP(-1, 0, 0));
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grid.connectBiDir(idx1, idx2);
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grid.connectBiDir(idx1, idx3);
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grid.connectBiDir(idx1, idx4);
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grid.connectBiDir(idx1, idx5);
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class TMP {
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Grid<GP>& grid;
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public:
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TMP(Grid<GP>& grid) : grid(grid) {;}
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int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
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const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
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float getWeightBetween(const GP& n1, const GP& n2) const {return (n1.inCentimeter() - n2.inCentimeter()).length();}
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} tmp(grid);
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Dijkstra<GP> d;
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d.build(&grid[idx5], &grid[idx3], tmp, 99999);
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// start node must be "idx5"
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const DijkstraNode<GP>* n = d.getNode(grid[idx5]);
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ASSERT_EQ(&grid[idx5], n->element); ASSERT_EQ(nullptr, n->previous); ASSERT_EQ(0, n->cumWeight);
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// "idx1" (the center) is reached via idx5
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const DijkstraNode<GP>* n2 = d.getNode(grid[idx1]);
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ASSERT_EQ(&grid[idx1], n2->element); ASSERT_EQ(&grid[idx5], n2->previous->element);
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// "idx3" (the target) is reached via idx1 (the center)
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const DijkstraNode<GP>* n3 = d.getNode(grid[idx3]);
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ASSERT_EQ(&grid[idx3], n3->element); ASSERT_EQ(&grid[idx1], n3->previous->element);
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}
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void build(Grid<GP>& grid) {
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const int size = 10000;
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const int gs = grid.getGridSize_cm();
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for (int x = 0; x < size; x += gs) {
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for (int y = 0; y < size; y += gs) {
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grid.add(GP(x,y,0));
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}
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}
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//std::set<int> done;
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for (int x = 0; x < size; x += gs) {
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for (int y = 0; y < size; y += gs) {
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const GridPoint gp1(x,y,0);
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const int idx1 = grid.getNodeFor(gp1).getIdx();
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for (int x1 = -gs; x1 <= +gs; x1 += gs) {
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for (int y1 = -gs; y1 <= +gs; y1 += gs) {
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if (x1 == 0 && y1 == 0) {continue;} // the node itself
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const GridPoint gp2(x+x1, y+y1, 0);
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if (grid.hasNodeFor(gp2)) {
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int idx2 = grid.getNodeFor(gp2).getIdx();
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//if (done.find(idx2) != done.end()) {continue;}
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//grid.connectBiDir(idx1, idx2);
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grid.connectUniDir(idx1, idx2);
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}
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}
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}
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//done.insert(idx1);
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}
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}
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}
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void dijkstra(Grid<GP>& grid) {
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class TMP {
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Grid<GP>& grid;
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public:
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TMP(Grid<GP>& grid) : grid(grid) {;}
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int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
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const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
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float getWeightBetween(const GP& n1, const GP& n2) const {return (n1.inCentimeter() - n2.inCentimeter()).length();}
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} tmp(grid);
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Dijkstra<GP> d;
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d.build(&grid[0], tmp);
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}
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TEST(Dijkstra, huge) {
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Grid<GP> grid(10);
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build(grid);
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dijkstra(grid);
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}
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#endif
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