kazu
cdf97322f8
added new test-cases added flexible dijkstra calculation added debugging log modified: plotting, grid-generation, grid-importance, refactoring
78 lines
1.8 KiB
C++
78 lines
1.8 KiB
C++
#ifndef DIJKSTRANODE_H
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#define DIJKSTRANODE_H
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/**
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* wrapper around a user data structure
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* adds additional fields needed for dijkstra calculation
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*/
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template <typename T> struct DijkstraNode {
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/** pos infinity */
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static constexpr float INF = +99999999;
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/** the user-element this node describes */
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const T* element;
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/** the previous dijkstra node (navigation path) */
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DijkstraNode<T>* previous;
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/** the weight from the start up to this element */
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float cumWeight;
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// /** ctor */
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// DijkstraNode() : element(nullptr), previous(), cumWeight(INF) {;}
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/** ctor */
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DijkstraNode(const T* element) : element(element), previous(), cumWeight(INF) {;}
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/** equal? (bi-dir) */
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bool operator == (const DijkstraNode<T>& other) {
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return element == other.element;
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}
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};
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/**
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* data structure describing the connection between two nodes
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* only used to track already processed connections!
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*/
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template <typename T> struct DijkstraEdge {
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/** the edge's source */
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const DijkstraNode<T>* src;
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/** the edge's destination */
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const DijkstraNode<T>* dst;
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/** ctor */
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DijkstraEdge(const DijkstraNode<T>* src, const DijkstraNode<T>* dst) : src(src), dst(dst) {;}
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/** equal? (bi-dir) */
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bool operator == (const DijkstraEdge& other) const {
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return ((dst == other.dst) && (src == other.src)) ||
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((src == other.dst) && (dst == other.src));
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}
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};
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//template <typename T> struct DijkstraEdgeWeighted : public DijkstraEdge<T> {
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// /** the edge's weight */
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// float weight;
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// DijkstraEdgeWeighted(const DijkstraNode<T>* src, const DijkstraNode<T>* dst, const float weight) : DijkstraEdge<T>(src,dst), weight(weight) {;}
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//};
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namespace std {
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template <typename T> struct hash<DijkstraEdge<T>>{
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size_t operator()(const DijkstraEdge<T>& e) const {
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return hash<size_t>()( (size_t)e.src^(size_t)e.dst);
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}
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};
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}
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#endif // DIJKSTRANODE_H
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