mirror of
git://projects.qi-hardware.com/nanomap.git
synced 2024-11-25 00:42:28 +02:00
94 lines
3.0 KiB
C++
94 lines
3.0 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 CONTRACTIONHIERARCHIESCLIENT_H
|
|
#define CONTRACTIONHIERARCHIESCLIENT_H
|
|
|
|
#include <QObject>
|
|
#include <QStringList>
|
|
#include "interfaces/irouter.h"
|
|
#include "binaryheap.h"
|
|
#include "compressedgraph.h"
|
|
#include <queue>
|
|
|
|
class ContractionHierarchiesClient : public QObject, public IRouter
|
|
{
|
|
Q_OBJECT
|
|
Q_INTERFACES( IRouter )
|
|
public:
|
|
ContractionHierarchiesClient();
|
|
virtual ~ContractionHierarchiesClient();
|
|
|
|
virtual QString GetName();
|
|
virtual void SetInputDirectory( const QString& dir );
|
|
virtual void ShowSettings();
|
|
virtual bool LoadData();
|
|
virtual bool GetRoute( double* distance, QVector< Node>* pathNodes, QVector< Edge >* pathEdges, const IGPSLookup::Result& source, const IGPSLookup::Result& target );
|
|
virtual bool GetName( QString* result, unsigned name );
|
|
virtual bool GetNames( QVector< QString >* result, QVector< unsigned > names );
|
|
virtual bool GetType( QString* result, unsigned type );
|
|
virtual bool GetTypes( QVector< QString >* result, QVector< unsigned > types );
|
|
|
|
protected:
|
|
struct HeapData {
|
|
CompressedGraph::NodeIterator parent;
|
|
bool stalled: 1;
|
|
HeapData( CompressedGraph::NodeIterator p ) {
|
|
parent = p;
|
|
stalled = false;
|
|
}
|
|
};
|
|
|
|
class AllowForwardEdge {
|
|
public:
|
|
bool operator()( bool forward, bool /*backward*/ ) const {
|
|
return forward;
|
|
}
|
|
};
|
|
|
|
class AllowBackwardEdge {
|
|
public:
|
|
bool operator()( bool /*forward*/, bool backward ) const {
|
|
return backward;
|
|
}
|
|
};
|
|
|
|
typedef CompressedGraph::NodeIterator NodeIterator;
|
|
typedef CompressedGraph::EdgeIterator EdgeIterator;
|
|
typedef BinaryHeap< NodeIterator, int, int, HeapData, MapStorage< NodeIterator, unsigned > > Heap;
|
|
|
|
CompressedGraph m_graph;
|
|
const char* m_names;
|
|
QFile m_namesFile;
|
|
Heap* m_heapForward;
|
|
Heap* m_heapBackward;
|
|
std::queue< NodeIterator > m_stallQueue;
|
|
QString m_directory;
|
|
QStringList m_types;
|
|
|
|
void unload();
|
|
template< class EdgeAllowed, class StallEdgeAllowed >
|
|
void computeStep( Heap* heapForward, Heap* heapBackward, const EdgeAllowed& edgeAllowed, const StallEdgeAllowed& stallEdgeAllowed, NodeIterator* middle, int* targetDistance );
|
|
int computeRoute( const IGPSLookup::Result& source, const IGPSLookup::Result& target, QVector< Node>* pathNodes, QVector< Edge >* pathEdges );
|
|
bool unpackEdge( const NodeIterator source, const NodeIterator target, bool forward, QVector< Node>* pathNodes, QVector< Edge >* pathEdges );
|
|
|
|
};
|
|
|
|
#endif // CONTRACTIONHIERARCHIESCLIENT_H
|