134 lines
3.8 KiB
C++
134 lines
3.8 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 <set>
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namespace GW3 {
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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 float dist_m) {
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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;
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toVisit.push_back(start->getIdx());
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distances[start->getIdx()] = 0.0f;
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while (!toVisit.empty()) {
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int curIdx = toVisit.front();
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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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if (curDistance <= dist_m) {
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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.inMeter().getDistance(curNode.inMeter());
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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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toVisit.push_back(neighborIdx);
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distances[neighborIdx] = totalDist;
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// reached earlier but found shorter way
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} else {
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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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}
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}
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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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