mirror of
git://projects.qi-hardware.com/nanomap.git
synced 2024-11-23 19:20:16 +02:00
287 lines
10 KiB
C
287 lines
10 KiB
C
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/*
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Copyright 2010 Christian Vetter veaac.fdirct@gmail.com
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This file is part of MoNav.
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MoNav is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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MoNav is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with MoNav. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef CELL_H
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#define CELL_H
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#include "utils/config.h"
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#include "utils/coordinates.h"
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#include "utils/bithelpers.h"
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#include "utils/edgeconnector.h"
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#include <vector>
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#include <algorithm>
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namespace gg
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{
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class Cell {
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public:
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struct Edge {
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unsigned pathID;
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unsigned short pathLength;
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unsigned short edgeID;
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NodeID source;
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NodeID target;
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bool bidirectional;
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bool operator==( const Edge& right ) const {
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if ( source != right.source )
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return false;
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if ( target != right.target )
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return false;
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if ( bidirectional != right.bidirectional )
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return false;
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if ( edgeID != right.edgeID )
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return false;
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if ( pathLength != right.pathLength )
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return false;
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return true;
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}
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};
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std::vector< Edge > edges;
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std::vector< UnsignedCoordinate > coordinates;
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bool operator==( const Cell& right ) const
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{
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if ( edges.size() != right.edges.size() )
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return false;
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for ( int i = 0; i < ( int ) edges.size(); i++ ) {
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if ( !( edges[i] == right.edges[i] ) )
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return false;
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for ( unsigned path = 0; path < edges[i].pathLength; path++ ) {
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if ( coordinates[path + edges[i].pathID].x != right.coordinates[path + right.edges[i].pathID].x )
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return false;
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if ( coordinates[path + edges[i].pathID].y != right.coordinates[path + right.edges[i].pathID].y )
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return false;
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}
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}
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return true;
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}
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size_t write( unsigned char* buffer, UnsignedCoordinate min, UnsignedCoordinate max )
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{
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unsigned char* const oldBuffer = buffer;
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NodeID minID = std::numeric_limits< NodeID >::max();
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NodeID maxID = 0;
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unsigned short maxEdgeID = 0;
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unsigned short maxPathLength = 0;
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{
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// build edge connector data structures
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std::vector< EdgeConnector< unsigned >::Edge > connectorEdges;
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std::vector< unsigned > resultSegments;
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std::vector< unsigned > resultSegmentDescriptions;
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std::vector< bool > resultReversed;
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for ( unsigned i = 0; i < ( unsigned ) edges.size(); i++ ) {
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EdgeConnector< unsigned >::Edge newEdge;
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newEdge.source = edges[i].source;
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newEdge.target = edges[i].target;
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newEdge.reverseable = edges[i].bidirectional;
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connectorEdges.push_back( newEdge );
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}
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EdgeConnector< unsigned >::run( &resultSegments, &resultSegmentDescriptions, &resultReversed, connectorEdges );
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for ( unsigned i = 0; i < ( unsigned ) edges.size(); i++ ) {
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if ( resultReversed[i] ) {
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std::swap( edges[i].source, edges[i].target );
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std::reverse( coordinates.begin() + edges[i].pathID, coordinates.begin() + edges[i].pathID + edges[i].pathLength );
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}
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}
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std::vector< Edge > reorderedEdges;
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for ( unsigned i = 0; i < ( unsigned ) resultSegmentDescriptions.size(); i++ )
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reorderedEdges.push_back( edges[resultSegmentDescriptions[i]] );
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edges.swap( reorderedEdges );
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}
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std::vector< NodeID > nodes;
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for ( std::vector< Edge >::iterator i = edges.begin(), e = edges.end(); i != e; ++i ) {
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minID = std::min( minID, i->source );
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minID = std::min( minID, i->target );
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maxID = std::max( maxID, i->source );
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maxID = std::max( maxID, i->target );
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maxID = std::max( maxID, i->target );
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maxEdgeID = std::max( maxEdgeID, i->edgeID );
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assert( i->pathLength > 1 );
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maxPathLength = std::max( maxPathLength, ( unsigned short ) ( i->pathLength - 2 ) );
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nodes.push_back( i->source );
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nodes.push_back( i->target );
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}
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std::sort( nodes.begin(), nodes.end() );
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nodes.resize( std::unique( nodes.begin(), nodes.end() ) - nodes.begin() );
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const char xBits = bits_needed( max.x - min.x );
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const char yBits = bits_needed( max.y - min.y );
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const char idBits = bits_needed( maxID - minID );
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const char edgeIDBits = bits_needed( maxEdgeID );
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const char pathLengthBits = bits_needed( maxPathLength );
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int offset = 0;
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write_unaligned_unsigned( &buffer, edges.size(), 32, &offset );
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write_unaligned_unsigned( &buffer, minID, 32, &offset );
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write_unaligned_unsigned( &buffer, idBits, 6, &offset );
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write_unaligned_unsigned( &buffer, edgeIDBits, 6, &offset );
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write_unaligned_unsigned( &buffer, pathLengthBits, 6, &offset );
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NodeID lastTarget = std::numeric_limits< NodeID >::max();
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std::vector< UnsignedCoordinate > wayBuffer;
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for ( std::vector< Edge >::const_iterator i = edges.begin(), e = edges.end(); i != e; i++ ) {
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bool reuse = lastTarget == i->source;
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write_unaligned_unsigned( &buffer, reuse ? 1 : 0, 1, &offset );
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if ( !reuse )
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write_unaligned_unsigned( &buffer, i->source - minID, idBits, &offset );
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write_unaligned_unsigned( &buffer, i->target - minID, idBits, &offset );
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write_unaligned_unsigned( &buffer, i->edgeID, edgeIDBits, &offset );
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write_unaligned_unsigned( &buffer, i->bidirectional ? 1 : 0, 1, &offset );
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write_unaligned_unsigned( &buffer, i->pathLength - 2, pathLengthBits, &offset );
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assert( i->pathLength >= 2 );
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for ( int pathID = 1; pathID < i->pathLength - 1; pathID++ )
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wayBuffer.push_back( coordinates[pathID + i->pathID] );
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lastTarget = i->target;
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}
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std::vector< UnsignedCoordinate > nodeCoordinates( nodes.size() );
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for ( std::vector< Edge >::iterator i = edges.begin(), e = edges.end(); i != e; ++i ) {
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unsigned sourcePos = lower_bound( nodes.begin(), nodes.end(), i->source ) - nodes.begin();
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unsigned targetPos = lower_bound( nodes.begin(), nodes.end(), i->target ) - nodes.begin();
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nodeCoordinates[sourcePos] = coordinates[i->pathID];
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nodeCoordinates[targetPos] = coordinates[i->pathID + i->pathLength - 1];
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}
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for ( std::vector< UnsignedCoordinate >::const_iterator i = nodeCoordinates.begin(), iend = nodeCoordinates.end(); i != iend; i++ ) {
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writeCoordinate( &buffer, &offset, i->x, min.x, max.x, xBits);
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writeCoordinate( &buffer, &offset, i->y, min.y, max.y, yBits);
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}
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for ( std::vector< UnsignedCoordinate >::const_iterator i = wayBuffer.begin(), iend = wayBuffer.end(); i != iend; i++ ) {
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writeCoordinate( &buffer, &offset, i->x, min.x, max.x, xBits);
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writeCoordinate( &buffer, &offset, i->y, min.y, max.y, yBits);
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}
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buffer += ( offset + 7 ) / 8;
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return buffer - oldBuffer;
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}
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size_t read( const unsigned char* buffer, UnsignedCoordinate min, UnsignedCoordinate max ) {
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const unsigned char* oldBuffer = buffer;
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int offset = 0;
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const char xBits = bits_needed( max.x - min.x );
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const char yBits = bits_needed( max.y - min.y );
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unsigned numEdges = read_unaligned_unsigned( &buffer, 32, &offset );
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unsigned minID = read_unaligned_unsigned( &buffer, 32, &offset );
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unsigned idBits = read_unaligned_unsigned( &buffer, 6, &offset );
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unsigned edgeIDBits = read_unaligned_unsigned( &buffer, 6, &offset );
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unsigned pathLengthBits = read_unaligned_unsigned( &buffer, 6, &offset );
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std::vector< NodeID > nodes;
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NodeID lastTarget = std::numeric_limits< NodeID >::max();
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for ( unsigned i = 0; i < numEdges; i++ ) {
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Edge edge;
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bool reuse = read_unaligned_unsigned( &buffer, 1, &offset ) == 1;
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if ( reuse )
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edge.source = lastTarget;
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else
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edge.source = read_unaligned_unsigned( &buffer, idBits, &offset ) + minID;
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edge.target = read_unaligned_unsigned( &buffer, idBits, &offset ) + minID;
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edge.edgeID = read_unaligned_unsigned( &buffer, edgeIDBits, &offset );
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edge.bidirectional = read_unaligned_unsigned( &buffer, 1, &offset ) == 1;
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edge.pathLength = read_unaligned_unsigned( &buffer, pathLengthBits, &offset );
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edges.push_back( edge );
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nodes.push_back( edge.source );
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nodes.push_back( edge.target );
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lastTarget = edge.target;
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}
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assert( edges.size() != 0 );
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std::sort( nodes.begin(), nodes.end() );
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nodes.resize( std::unique( nodes.begin(), nodes.end() ) - nodes.begin() );
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std::vector< UnsignedCoordinate > nodeCoordinates( nodes.size() );
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for ( std::vector< UnsignedCoordinate >::iterator i = nodeCoordinates.begin(), iend = nodeCoordinates.end(); i != iend; i++ ) {
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readCoordinate( &buffer, &offset, &i->x, min.x, max.x, xBits);
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readCoordinate( &buffer, &offset, &i->y, min.y, max.y, yBits);
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}
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for ( std::vector< Edge >::iterator i = edges.begin(), iend = edges.end(); i != iend; i++ ) {
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unsigned sourcePos = lower_bound( nodes.begin(), nodes.end(), i->source ) - nodes.begin();
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unsigned targetPos = lower_bound( nodes.begin(), nodes.end(), i->target ) - nodes.begin();
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if ( coordinates.size() == 0 || coordinates.back().x != nodeCoordinates[sourcePos].x || coordinates.back().y != nodeCoordinates[sourcePos].y )
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coordinates.push_back( nodeCoordinates[sourcePos] );
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i->pathID = coordinates.size() - 1;
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for ( int path = 0; path < i->pathLength; path++ ) {
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UnsignedCoordinate coordinate;
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readCoordinate( &buffer, &offset, &coordinate.x, min.x, max.x, xBits);
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readCoordinate( &buffer, &offset, &coordinate.y, min.y, max.y, yBits);
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coordinates.push_back( coordinate );
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}
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coordinates.push_back( nodeCoordinates[targetPos] );
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i->pathLength += 2;
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}
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buffer += ( offset + 7 ) / 8;
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return buffer - oldBuffer;
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}
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protected:
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void writeCoordinate( unsigned char** buffer, int* offset, unsigned value, unsigned min, unsigned max, char bits )
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{
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bool inside = !( value < min || value > max );
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write_unaligned_unsigned( buffer, inside ? 1 : 0, 1, offset );
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if ( inside )
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write_unaligned_unsigned( buffer, value - min, bits, offset );
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else
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write_unaligned_unsigned( buffer, value, 32, offset );
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}
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void readCoordinate( const unsigned char** buffer, int* offset, unsigned* value, unsigned min, unsigned /*max*/, char bits )
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{
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bool inside = read_unaligned_unsigned( buffer, 1, offset ) == 1;
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if ( inside )
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*value = read_unaligned_unsigned( buffer, bits, offset ) + min;
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else
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*value = read_unaligned_unsigned( buffer, 32, offset );
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}
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};
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}
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#endif // CELL_H
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