Merge pull request #466 from eyal0/single_path_finder

Single path finder

bg_helpers.cpp

@@ -31,13 +31,33 @@ multi_polygon_type_fp buffer(multi_polygon_type_fp const & geometry_in, coordina
   }
 }
 
+multi_polygon_type_fp buffer_miter(multi_polygon_type_fp const & geometry_in, coordinate_type_fp expand_by) {
+  if (expand_by == 0) {
+    return geometry_in;
+  } else {
+    multi_polygon_type_fp geometry_out;
+    bg::buffer(geometry_in, geometry_out,
+               bg::strategy::buffer::distance_symmetric<coordinate_type_fp>(expand_by),
+               bg::strategy::buffer::side_straight(),
+               bg::strategy::buffer::join_miter(expand_by),
+               bg::strategy::buffer::end_round(points_per_circle),
+               bg::strategy::buffer::point_circle(points_per_circle));
+    return geometry_out;
+  }
+}
+
 template<typename CoordinateType>
 multi_polygon_type_fp buffer(polygon_type_fp const & geometry_in, CoordinateType expand_by) {
   return buffer(multi_polygon_type_fp{geometry_in}, expand_by);
 }
 
 template multi_polygon_type_fp buffer(polygon_type_fp const&, double);
 
+template<typename CoordinateType>
+multi_polygon_type_fp buffer_miter(polygon_type_fp const & geometry_in, CoordinateType expand_by) {
+  return buffer_miter(multi_polygon_type_fp{geometry_in}, expand_by);
+}
+
 template<typename CoordinateType>
 multi_polygon_type_fp buffer(linestring_type_fp const & geometry_in, CoordinateType expand_by) {
   if (expand_by == 0) {
@@ -93,10 +113,10 @@ multi_polygon_type_fp buffer(multi_linestring_type_fp const & geometry_in, Coord
 template multi_polygon_type_fp buffer(const multi_linestring_type_fp&, double expand_by);
 
 template<typename CoordinateType>
-multi_polygon_type_fp buffer(ring_type_fp const & geometry_in, CoordinateType expand_by) {
-  return buffer(polygon_type_fp{geometry_in}, expand_by);
+multi_polygon_type_fp buffer_miter(ring_type_fp const & geometry_in, CoordinateType expand_by) {
+  return buffer_miter(polygon_type_fp{geometry_in}, expand_by);
 }
 
-template multi_polygon_type_fp buffer(ring_type_fp const&, double);
+template multi_polygon_type_fp buffer_miter(ring_type_fp const&, double);
 
 } // namespace bg_helpers

bg_helpers.hpp

@@ -18,6 +18,8 @@ namespace bg_helpers {
 // 0, unlike bg::buffer.
 multi_polygon_type_fp buffer(multi_polygon_type_fp const & geometry_in, coordinate_type_fp expand_by);
 
+multi_polygon_type_fp buffer_miter(multi_polygon_type_fp const & geometry_in, coordinate_type_fp expand_by);
+
 template<typename CoordinateType>
 multi_polygon_type_fp buffer(polygon_type_fp const & geometry_in, CoordinateType expand_by);
 
@@ -27,6 +29,9 @@ multi_polygon_type_fp buffer(multi_linestring_type_fp const & geometry_in, Coord
 template<typename CoordinateType>
 multi_polygon_type_fp buffer(ring_type_fp const & geometry_in, CoordinateType expand_by);
 
+template<typename CoordinateType>
+multi_polygon_type_fp buffer_miter(ring_type_fp const & geometry_in, CoordinateType expand_by);
+
 } // namespace bg_helpers
 
 #endif //BG_HELPERS_HPP

path_finding.cpp

@@ -26,16 +26,12 @@ using std::make_shared;
 class PathFindingSurface {
  public:
   PathFindingSurface(const multi_polygon_type_fp& keep_in,
-                     const optional<multi_polygon_type_fp>& keep_out,
-                     const coordinate_type_fp tolerance) {
+                     const multi_polygon_type_fp& keep_out,
+                     coordinate_type_fp tolerance) {
     multi_polygon_type_fp total_keep_in;
     total_keep_in = keep_in;
-    // By here, total_keep_in_grown is ready.
-    if (keep_out) {
-      total_keep_in = total_keep_in - *keep_out;
-    }
+    total_keep_in = total_keep_in - keep_out;
 
-    all_vertices.clear();
     for (const auto& poly : total_keep_in) {
       for (const auto& point : poly.outer()) {
         all_vertices.push_back(point);
@@ -46,6 +42,7 @@ class PathFindingSurface {
         }
       }
     }
+    total_keep_in_grown = bg_helpers::buffer_miter(total_keep_in, tolerance);
 
     sort(all_vertices.begin(),
          all_vertices.end(),
@@ -55,12 +52,10 @@ class PathFindingSurface {
     all_vertices.erase(
         std::unique(all_vertices.begin(),
                     all_vertices.end(),
-                      [](const point_type_fp& a, const point_type_fp& b) {
-                        return std::tie(a.x(), a.y()) == std::tie(b.x(), b.y());
-                      }),
+                    [](const point_type_fp& a, const point_type_fp& b) {
+                      return std::tie(a.x(), a.y()) == std::tie(b.x(), b.y());
+                    }),
         all_vertices.end());
-
-    total_keep_in_grown = bg_helpers::buffer(total_keep_in, tolerance);
   }
   multi_polygon_type_fp total_keep_in_grown;
   vector<point_type_fp> all_vertices;
@@ -102,7 +97,6 @@ class PathSurface {
   PathSurface(const std::shared_ptr<const PathFindingSurface>& base, const point_type_fp begin, const point_type_fp end,
               PathLimiter path_limiter)
       : path_limiter(path_limiter) {
-    total_keep_in_grown.clear();
     for (const auto& poly : base->total_keep_in_grown) {
       if (bg::covered_by(begin, poly) && bg::covered_by(end, poly)) {
         total_keep_in_grown.push_back(poly);
@@ -362,7 +356,7 @@ struct AstarGoalVisitor : public boost::default_astar_visitor {
 
 const std::shared_ptr<const PathFindingSurface> create_path_finding_surface(
     const multi_polygon_type_fp& keep_in,
-    const boost::optional<multi_polygon_type_fp>& keep_out,
+    const multi_polygon_type_fp& keep_out,
     const coordinate_type_fp tolerance) {
   boost::function_requires<boost::VertexListGraphConcept<PathSurface>>();
   boost::function_requires<boost::IncidenceGraphConcept<PathSurface>>();

path_finding.hpp

@@ -22,7 +22,7 @@ typedef std::function<bool(const point_type_fp& target, const coordinate_type_fp
 // small epsilon value.
 const std::shared_ptr<const PathFindingSurface> create_path_finding_surface(
     const multi_polygon_type_fp& keep_in,
-    const boost::optional<multi_polygon_type_fp>& keep_out,
+    const multi_polygon_type_fp& keep_out,
     const coordinate_type_fp tolerance);
 
 

path_finding_tests.cpp

@@ -23,7 +23,7 @@ BOOST_AUTO_TEST_CASE(simple) {
   bg::expand(bounding_box, point_type_fp(100, 100));
   multi_polygon_type_fp keep_in;
   bg::convert(bounding_box, keep_in);
-  auto surface = create_path_finding_surface(keep_in, boost::none, 0.1);
+  auto surface = create_path_finding_surface(keep_in, multi_polygon_type_fp(), 0.1);
   auto ret = find_path(surface, point_type_fp(0,0), point_type_fp(1,1), nullptr);
   linestring_type_fp expected;
   expected.push_back(point_type_fp(0, 0));
@@ -46,7 +46,7 @@ BOOST_AUTO_TEST_CASE(box) {
   bg::expand(bounding_box, point_type_fp(100, 100));
   multi_polygon_type_fp keep_in;
   bg::convert(bounding_box, keep_in);
-  auto surface = create_path_finding_surface(keep_in, boost::make_optional(keep_out), 0.1);
+  auto surface = create_path_finding_surface(keep_in, keep_out, 0.1);
   auto ret = find_path(surface, point_type_fp(0,0), point_type_fp(10,10), nullptr);
 
   linestring_type_fp expected;
@@ -71,7 +71,7 @@ BOOST_AUTO_TEST_CASE(unreachable_box) {
   bg::expand(bounding_box, point_type_fp(100, 100));
   multi_polygon_type_fp keep_in;
   bg::convert(bounding_box, keep_in);
-  auto surface = create_path_finding_surface(keep_in, boost::make_optional(keep_out), 0.1);
+  auto surface = create_path_finding_surface(keep_in, keep_out, 0.1);
   auto ret = find_path(surface, point_type_fp(0,0), point_type_fp(5,5), nullptr);
 
   BOOST_CHECK_EQUAL(ret, boost::none);
@@ -92,7 +92,7 @@ BOOST_AUTO_TEST_CASE(reuse_surface) {
   bg::expand(bounding_box, point_type_fp(100, 100));
   multi_polygon_type_fp keep_in;
   bg::convert(bounding_box, keep_in);
-  auto surface = create_path_finding_surface(keep_in, boost::make_optional(keep_out), 0.1);
+  auto surface = create_path_finding_surface(keep_in, keep_out, 0.1);
   auto ret = find_path(surface, point_type_fp(0,0), point_type_fp(5,5), nullptr);
   BOOST_CHECK_EQUAL(ret, boost::none);
 
@@ -119,7 +119,7 @@ BOOST_AUTO_TEST_CASE(u_shape) {
   poly.outer() = u_shape;
   multi_polygon_type_fp keep_in;
   keep_in.push_back(poly);
-  auto surface = create_path_finding_surface(keep_in, boost::none, 0.1);
+  auto surface = create_path_finding_surface(keep_in, multi_polygon_type_fp(), 0.1);
   auto ret = find_path(surface, point_type_fp(1,9), point_type_fp(9,9), nullptr);
 
   linestring_type_fp expected;