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nanomap/monav/utils/edgeconnector.h
Niels f1a2430393 Revert "first try to fix building with OpenWRT toolchain that does not include QtCore and QtGui in the include path"
This reverts commit da88ec21cdbda458d04368292008126c3ebe5715.

This was not the right solution
2010-11-17 22:05:12 +01:00

136 lines
3.7 KiB
C++

/*
Copyright 2010 Christian Vetter veaac.fdirct@gmail.com
This file is part of MoNav.
MoNav is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
MoNav is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with MoNav. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef EDGECONNECTOR_H
#define EDGECONNECTOR_H
#include "utils/coordinates.h"
#include <vector>
#include <QMultiHash>
#include <algorithm>
static uint qHash( const UnsignedCoordinate& key )
{
return qHash( key.x ) ^ qHash( key.y );
}
template< class Node >
class EdgeConnector
{
public:
struct Edge {
Node source;
Node target;
bool reverseable;
};
static void run( std::vector< unsigned >* segments, std::vector< unsigned >* segmentDescriptions, std::vector< bool >* reversed, const std::vector< Edge >& edges )
{
// build node index
QMultiHash< Node, unsigned > nodes;
QMultiHash< Node, unsigned > backwardNodes;
for ( unsigned i = 0; i < edges.size(); i++ ) {
nodes.insert( edges[i].source, i );
backwardNodes.insert( edges[i].target, i );
if ( edges[i].reverseable ) {
nodes.insert( edges[i].target, i );
backwardNodes.insert( edges[i].source, i );
}
}
std::vector< bool > used( edges.size(), false );
reversed->resize( edges.size(), false );
for ( unsigned i = 0; i < edges.size(); i++ ) {
if ( used[i] )
continue;
unsigned lastSize = segmentDescriptions->size();
segmentDescriptions->push_back( i );
used[i] = true;
removeEdge( &nodes, &backwardNodes, edges[i], i );
// chain edges forward
Node lastNode = edges[i].target;
while ( nodes.contains( lastNode ) ) {
unsigned nextEdge = nodes.value( lastNode );
assert( !used[nextEdge] );
if ( lastNode != edges[nextEdge].source ) {
assert( lastNode == edges[nextEdge].target );
assert( edges[nextEdge].reverseable );
( *reversed )[nextEdge] = true;
lastNode = edges[nextEdge].source;
} else {
lastNode = edges[nextEdge].target;
}
segmentDescriptions->push_back( nextEdge );
used[nextEdge] = true;
removeEdge( &nodes, &backwardNodes, edges[nextEdge], nextEdge );
}
// chain edges backward
std::vector< unsigned > backwardsPath;
lastNode = edges[i].source;
while ( backwardNodes.contains( lastNode ) ) {
unsigned nextEdge = backwardNodes.value( lastNode );
assert( !used[nextEdge] );
if ( lastNode != edges[nextEdge].target ) {
assert( lastNode == edges[nextEdge].source );
assert( edges[nextEdge].reverseable );
( *reversed )[nextEdge] = true;
lastNode = edges[nextEdge].target;
} else {
lastNode = edges[nextEdge].source;
}
backwardsPath.push_back( nextEdge );
used[nextEdge] = true;
removeEdge( &nodes, &backwardNodes, edges[nextEdge], nextEdge );
}
segmentDescriptions->insert( segmentDescriptions->begin() + lastSize, backwardsPath.rbegin(), backwardsPath.rend() );
segments->push_back( segmentDescriptions->size() - lastSize );
}
assert( segmentDescriptions->size() == edges.size() );
}
protected:
static void removeEdge( QMultiHash< Node, unsigned >* nodes, QMultiHash< Node, unsigned >* backwardsNodes, const Edge& edge, unsigned value )
{
nodes->remove( edge.source, value );
nodes->remove( edge.target, value );
backwardsNodes->remove( edge.target, value );
backwardsNodes->remove( edge.source, value );
}
};
#endif // EDGECONNECTOR_H