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pathfinders.cpp
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pathfinders.cpp
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#include "pathfinders.h"
#include "heaps/heap.h"
#include <algorithm> // std::fill
// Modified from code by Shane Saunders
// @param n Number of vertices in graph
// @param heapD The type of heap used
// @param g A DGraph object
// @param twoheap If `TRUE`, uses a bi-directional search.
PF::PathFinder::PathFinder(size_t n,
const HeapDesc& heapD,
std::shared_ptr<const DGraph> g)
{
m_heap = heapD.newInstance (n);
m_closed = new bool [n];
m_open = new bool [n];
init (g);
}
PF::PathFinder::~PathFinder() {
delete [] m_open;
delete [] m_closed;
delete m_heap;
}
void PF::PathFinder::init(std::shared_ptr<const DGraph> g) {
m_graph = g;
}
void PF::PathFinder::init_arrays (
std::vector <double>& d,
std::vector <double>& w,
std::vector <long int>& prev,
bool *m_open_vec,
bool *m_closed_vec,
const size_t v,
const size_t n)
{
std::fill (w.begin (), w.end (), INFINITE_DOUBLE);
std::fill (d.begin (), d.end (), INFINITE_DOUBLE);
std::fill (prev.begin (), prev.end (), INFINITE_INT);
w [v] = 0.0;
d [v] = 0.0;
prev [v] = -1;
std::fill (m_open_vec, m_open_vec + n, false);
std::fill (m_closed_vec, m_closed_vec + n, false);
m_open_vec [v] = true;
}
void PF::PathFinder::scan_edges (const DGraphEdge *edge,
std::vector<double>& d,
std::vector<double>& w,
std::vector<long int>& prev,
bool *m_open_vec,
const bool *m_closed_vec,
const size_t &v0)
{
while (edge) {
size_t et = edge->target;
if (!m_closed_vec [et])
{
double wt = w [v0] + edge->wt;
if (wt < w [et]) {
d [et] = d [v0] + edge->dist;
w [et] = wt;
prev [et] = static_cast <int> (v0);
if (m_open_vec [et]) {
m_heap->decreaseKey(et, wt);
}
else {
m_heap->insert (et, wt);
m_open_vec [et] = true;
}
} else
m_closed [et] = true;
}
edge = edge->nextOut;
}
}
void PF::PathFinder::scan_edges_heur (const DGraphEdge *edge,
std::vector<double>& d,
std::vector<double>& w,
std::vector<long int>& prev,
bool *m_open_vec,
const bool *m_closed_vec,
const size_t &v0,
const std::vector<double> &heur) // heuristic for A*
{
while (edge) {
size_t et = edge->target;
if (!m_closed_vec [et])
{
double wt = w [v0] + edge->wt;
if (wt < w [et]) {
d [et] = d [v0] + edge->dist;
w [et] = wt;
prev [et] = static_cast <int> (v0);
if (m_open_vec [et]) {
m_heap->decreaseKey(et, wt + heur [et] - heur [v0]);
}
else {
m_heap->insert (et, wt + heur [et] - heur [v0]);
m_open_vec [et] = true;
}
} else
m_closed [et] = true;
}
edge = edge->nextOut;
}
}
/**********************************************************************
************************ PATH ALGORITHMS *************************
**********************************************************************/
void PF::PathFinder::Dijkstra (
std::vector<double>& d,
std::vector<double>& w,
std::vector<long int>& prev,
const size_t v0,
const std::vector <size_t> &to_index)
{
const DGraphEdge *edge;
const size_t n = m_graph->nVertices();
const std::vector<DGraphVertex>& vertices = m_graph->vertices();
PF::PathFinder::init_arrays (d, w, prev, m_open, m_closed, v0, n);
m_heap->insert (v0, 0.0);
size_t n_reached = 0;
const size_t n_targets = to_index.size ();
bool *is_target = new bool [n];
std::fill (is_target, is_target + n, false);
for (auto t: to_index)
is_target [t] = true;
while (m_heap->nItems() > 0) {
size_t v = m_heap->deleteMin();
m_closed [v] = true;
m_open [v] = false;
edge = vertices [v].outHead;
scan_edges (edge, d, w, prev, m_open, m_closed, v);
if (is_target [v])
n_reached++;
if (n_reached == n_targets)
break;
} // end while nItems > 0
delete [] is_target;
}
// Modified Dijkstra that stops as soon as first target is reached. Used to find
// minimal distance to nearest one of set of possible targets.
void PF::PathFinder::DijkstraNearest (
std::vector<double>& d,
std::vector<double>& w,
std::vector<long int>& prev,
const size_t v0,
const std::vector <size_t> &to_index)
{
const DGraphEdge *edge;
const size_t n = m_graph->nVertices();
const std::vector<DGraphVertex>& vertices = m_graph->vertices();
PF::PathFinder::init_arrays (d, w, prev, m_open, m_closed, v0, n);
m_heap->insert (v0, 0.0);
bool *is_target = new bool [n];
std::fill (is_target, is_target + n, false);
for (auto t: to_index)
is_target [t] = true;
while (m_heap->nItems() > 0) {
size_t v = m_heap->deleteMin();
m_closed [v] = true;
m_open [v] = false;
edge = vertices [v].outHead;
scan_edges (edge, d, w, prev, m_open, m_closed, v);
if (is_target [v])
break;
} // end while nItems > 0
delete [] is_target;
}
// Modified pathfinder only out to specified distance limit. Done as separate
// routine to avoid costs of the `if` clause in general non-limited case.
void PF::PathFinder::DijkstraLimit (
std::vector<double>& d,
std::vector<double>& w,
std::vector<long int>& prev,
const size_t v0,
const double &dlim)
{
const DGraphEdge *edge;
const size_t n = m_graph->nVertices();
const std::vector<DGraphVertex>& vertices = m_graph->vertices();
PF::PathFinder::init_arrays (d, w, prev, m_open, m_closed, v0, n);
m_heap->insert (v0, 0.0);
while (m_heap->nItems() > 0) {
size_t v = m_heap->deleteMin();
m_closed [v] = true;
m_open [v] = false;
// explore the OUT set of v only if distances are < threshold
bool explore = false;
edge = vertices [v].outHead;
while (edge) {
if ((d [v] + edge->dist) <= dlim)
{
explore = true;
break;
}
edge = edge->nextOut;
}
if (explore)
{
edge = vertices [v].outHead;
scan_edges (edge, d, w, prev, m_open, m_closed, v);
}
} // end while nItems > 0
}
void PF::PathFinder::AStar (std::vector<double>& d,
std::vector<double>& w,
std::vector<long int>& prev,
const std::vector<double>& heur,
const size_t v0,
const std::vector <size_t> &to_index)
{
const DGraphEdge *edge;
const size_t n = m_graph->nVertices();
const std::vector<DGraphVertex>& vertices = m_graph->vertices();
PF::PathFinder::init_arrays (d, w, prev, m_open, m_closed, v0, n);
m_heap->insert (v0, heur [v0]);
size_t n_reached = 0;
const size_t n_targets = to_index.size ();
bool *is_target = new bool [n];
std::fill (is_target, is_target + n, false);
for (auto t: to_index)
is_target [t] = true;
while (m_heap->nItems() > 0) {
size_t v = m_heap->deleteMin();
m_closed [v] = true;
m_open [v] = false;
edge = vertices [v].outHead;
scan_edges_heur (edge, d, w, prev, m_open, m_closed, v, heur);
if (is_target [v])
n_reached++;
if (n_reached == n_targets)
break;
} // end while m_heap->nItems
delete [] is_target;
}
// Dijkstra with C++ std::set, modified from the above to use EdgeSet edge_set
// instead of m_heap, and so all routines hard-coded here.
void PF::PathFinder::Dijkstra_set (std::vector<double>& d,
std::vector<double>& w,
std::vector<long int>& prev,
size_t v0)
{
const DGraphEdge *edge;
const size_t n = m_graph->nVertices();
const std::vector<DGraphVertex>& vertices = m_graph->vertices();
PF::PathFinder::init_arrays (d, w, prev, m_open, m_closed, v0, n);
m_heap->insert(v0, 0.0);
edge_set.insert (DijkstraEdge (0.0, v0));
while (edge_set.size () > 0) {
EdgeSet::iterator ei = edge_set.begin();
size_t v = ei->geti();
edge_set.erase (ei);
m_closed [v] = true;
m_open [v] = false;
edge = vertices [v].outHead;
while (edge) {
size_t et = edge->target;
if (!m_closed [et]) {
double wt = w [v] + edge->wt;
if (wt < w [et]) {
d [et] = d [v] + edge->dist;
double wold = w [et];
w [et] = wt;
prev [et] = static_cast <int> (v);
if (m_open [et])
{
DijkstraEdge de (wold, et);
if (edge_set.find (de) != edge_set.end ())
edge_set.erase (edge_set.find (de));
} else
m_open [et] = true;
edge_set.insert (DijkstraEdge (w [et], et));
}
}
edge = edge->nextOut;
} // end while edge
} // end while edge_set.size
}