320 lines
8.6 KiB
C++
320 lines
8.6 KiB
C++
#ifndef INDOOR_GW3_HELPER_H
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#define INDOOR_GW3_HELPER_H
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#include "../../../nav/dijkstra/Dijkstra.h"
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#include "../../Grid.h"
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#include "Structs.h"
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#include <vector>
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#include <set>
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#include <KLib/math/random/RandomIterator.h>
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//#define SHOW_DEBUG_PLOT
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#ifdef SHOW_DEBUG_PLOT
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#include <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotPlot.h>
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#include <KLib/misc/gnuplot/GnuplotPlotElementColorPoints.h>
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#endif
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namespace GW3 {
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/** get an iterator over all nodes reachable from the given start */
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template <typename Node> class ReachableIteratorSorted {
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const Grid<Node>& grid;
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const Node& start;
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struct Next {
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uint32_t idx;
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float distToStart;
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Next(uint32_t idx, float distToStart) : idx(idx), distToStart(distToStart) {;}
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/** compare by weight. same weight? : compare by pointer */
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bool operator < (const Next& o) const {
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return (distToStart != o.distToStart) ? (distToStart < o.distToStart) : (idx < o.idx);
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}
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};
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Node* curNode = nullptr;
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std::unordered_set<uint32_t> visited;
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std::set<Next> toVisit;
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public:
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ReachableIteratorSorted(const Grid<Node>& grid, const Node& start) : grid(grid), start(start) {
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toVisit.insert(Next(start.getIdx(),0));
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}
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bool hasNext() const {
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return !toVisit.empty();
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}
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const Node& next() {
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const Next cur = *(toVisit.begin()); // visit from inside out (needed for correct distance)
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toVisit.erase(toVisit.begin());
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visited.insert(cur.idx);
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const Node& curNode = grid[cur.idx];
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for (int i = 0; i < curNode.getNumNeighbors(); ++i) {
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const int neighborIdx = curNode.getNeighborIdx(i);
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const Node& neighbor = grid[neighborIdx];
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const float newDist = cur.distToStart + curNode.getDistanceInMeter(neighbor);
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// not yet reached -> store distance
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if (visited.find(neighborIdx) == visited.end()) {
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toVisit.insert(Next(neighborIdx, newDist));
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}
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}
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// done
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return curNode;
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}
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};
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/**
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* data-structure to track to-be-visited nodes
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* push_back, pop_front
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* as pop_front is costly, we omit the pop and use a head-index instead
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* memory-consumption vs speed
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*/
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struct ToVisit {
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size_t nextIdx = 0;
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std::vector<uint32_t> vec;
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ToVisit() {vec.reserve(256);}
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void add(const uint32_t nodeIdx) {vec.push_back(nodeIdx);}
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uint32_t next() {return vec[nextIdx++];}
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bool empty() const {return nextIdx >= vec.size();}
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};
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/** get an iterator over all nodes reachable from the given start */
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template <typename Node, typename Conditions> class ReachableIteratorUnsorted {
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const Grid<Node>& grid;
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const Node& start;
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Node* curNode = nullptr;
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std::unordered_set<uint32_t> visited;
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ToVisit toVisit;
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Conditions cond;
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public:
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ReachableIteratorUnsorted(const Grid<Node>& grid, const Node& start, const Conditions cond) : grid(grid), start(start), cond(cond) {
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toVisit.add(start.getIdx());
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}
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bool hasNext() const {
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return !toVisit.empty();
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}
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//const Node& next(const std::function<bool(const Node&)>& skip) {
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//template <typename Skip> const Node& next(const Skip skip) {
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const Node& next() {
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// get the next to-be-visited node
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const uint32_t curIdx = toVisit.next(); //visit from inside out (needed for correct distance)
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const Node& curNode = grid[curIdx];
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// mark as "visited"
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visited.insert(curIdx);
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// get all neighbors
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const int numNeighbors = curNode.getNumNeighbors();
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for (int i = 0; i < numNeighbors; ++i) {
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const uint32_t neighborIdx = curNode.getNeighborIdx(i);
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const Node& neighbor = grid[neighborIdx];
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const bool visit = cond.visit(neighbor) ;
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// not yet reached -> store distance
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if (visit) {
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if (visited.find(neighborIdx) == visited.end()) {
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toVisit.add(neighborIdx);
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}
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}
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}
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// done
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return curNode;
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}
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};
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struct ReachableSettings {
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float dist_m;
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bool limitDistance = true;
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Heading heading = Heading(0);
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float maxHeadingDiff_rad;
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bool limitHeading = false;
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};
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template <typename Node> class Helper {
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public:
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static GridPoint p3ToGp(const Point3 p) {
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const Point3 p100 = p*100;
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return GridPoint( std::round(p100.x), std::round(p100.y), std::round(p100.z) );
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}
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static Point3 gpToP3(const GridPoint gp) {
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return Point3(gp.x_cm / 100.0f, gp.y_cm / 100.0f, gp.z_cm / 100.0f);
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}
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/** does the given grid-node contain the provided point-in-question? */
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static bool contains(const Grid<Node>& grid, const Node* n, Point2 pt) {
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const float gridSize_m = grid.getGridSize_cm() / 100.0f;
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const float d = gridSize_m / 2.0f;
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const Point2 pMin = n->inMeter().xy() - Point2(d, d);
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const Point2 pMax = n->inMeter().xy() + Point2(d, d);
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const BBox2 bbox(pMin, pMax);
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return bbox.contains(pt);
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}
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/** does one of the given grid-nodes contains the provided point-in-question? */
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static const Node* contains(const Grid<Node>& grid, const Nodes<Node>& nodes, Point2 pt) {
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for (const Node* n : nodes) {
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if (contains(grid, n, pt)) {return n;}
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}
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return nullptr;
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}
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/** get all possible walks from start within a given region */
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static Walks<Node> getAllPossibleWalks(Grid<Node>& grid, const Node* start, const float dist_m) {
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struct Access {
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Grid<Node>& grid;
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Access(Grid<Node>& grid) : grid(grid) {;}
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int getNumNeighbors(const Node& n) const {return n.getNumNeighbors();}
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Node* getNeighbor(const Node& n, const int idx) const {return &grid.getNeighbor(n, idx);}
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float getWeightBetween(const Node& n1, const Node& n2) const {return n1.inMeter().getDistance(n2.inMeter());}
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} acc(grid);
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const float addDist_m = grid.getGridSize_cm() / 100.0f;
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const float maxDist_m = dist_m * 1.1 + addDist_m;
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Dijkstra<Node> dijkstra;
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dijkstra.build(start, nullptr, acc, maxDist_m);
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const std::unordered_map<const Node*, DijkstraNode<Node>*>& nodes = dijkstra.getNodes();
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Walks<Node> walks;
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for (const auto& it : nodes) {
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Walk<Node> walk;
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DijkstraNode<Node>* node = it.second;
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do {
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const Node* gridNode = node->element;
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walk.insert(walk.begin(), gridNode); // push_front() as dijkstra is inverted
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node = node->previous;
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} while (node);
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walks.push_back(walk);
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}
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return walks;
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}
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/** get all reachable nodes that are within a given range */
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static Nodes<Node> getAllReachableNodes(Grid<Node>& grid, const Node* start, const ReachableSettings& set ) {
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//auto tStart = std::chrono::system_clock::now();
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Nodes<Node> res;
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std::unordered_map<uint32_t, float> distances;
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std::vector<uint32_t> toVisit; // std::queue was only barely faster: 900 vs 880 microseconds
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toVisit.push_back(start->getIdx());
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distances[start->getIdx()] = 0.0f;
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#ifdef SHOW_DEBUG_PLOT
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static K::Gnuplot gp;
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K::GnuplotPlot plot;
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K::GnuplotPlotElementColorPoints pts1; pts1.setPointType(7); pts1.setPointSize(1);
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plot.add(&pts1);
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#endif
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while (!toVisit.empty()) {
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const int curIdx = toVisit.front(); // visit from inside out (needed for correct distance)
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toVisit.erase(toVisit.begin());
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const Node& curNode = grid[curIdx];
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const float curDistance = distances[curIdx];
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res.push_back(&curNode); // remember for output
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#ifdef SHOW_DEBUG_PLOT
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pts1.add(K::GnuplotPoint2(curNode.x_cm, curNode.y_cm), curDistance);
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gp.draw(plot);
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gp.flush();
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#endif
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for (int i = 0; i < curNode.getNumNeighbors(); ++i) {
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const int neighborIdx = curNode.getNeighborIdx(i);
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const Node& neighbor = grid[neighborIdx];
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const float addDist = neighbor.getDistanceInMeter(curNode);
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const float totalDist = curDistance + addDist;
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// this is like in dijkstra. keep the smallest distance to reach a node:
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// not yet reached -> store distance
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if (distances.find(neighborIdx) == distances.end()) {
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distances[neighborIdx] = totalDist;
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if (set.limitDistance) {
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if (totalDist > set.dist_m) {continue;}
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}
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if (set.limitHeading) {
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const Heading head(start->x_cm, start->y_cm, neighbor.x_cm, neighbor.y_cm); // angle between start and current node
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const float diff = head.getDiffHalfRAD(set.heading); // difference between above angle and requested angle
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if (diff > set.maxHeadingDiff_rad) {continue;} // more than 90 degree difference? -> ignore
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}
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toVisit.push_back(neighborIdx); // needs a visit? (still some distance left)
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// reached earlier but found shorter way
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} else if (distances[neighborIdx] > totalDist) {
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distances[neighborIdx] = totalDist;
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}
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}
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}
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//auto tEnd = std::chrono::system_clock::now();
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//auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(tEnd - tStart);
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//std::cout << elapsed.count() << std::endl;
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return res;
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}
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};
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}
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#endif // INDOOR_GW3_HELPER_H
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