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660 lines
21 KiB
C++
660 lines
21 KiB
C++
/*
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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 CONTRACTOR_H_INCLUDED
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#define CONTRACTOR_H_INCLUDED
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#include <vector>
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#include <omp.h>
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#include <limits>
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#include "utils/qthelpers.h"
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#include "dynamicgraph.h"
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#include "binaryheap.h"
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#include "utils/config.h"
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class Contractor {
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public:
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struct Witness {
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NodeID source;
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NodeID target;
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NodeID middle;
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};
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private:
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struct _EdgeData {
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unsigned distance;
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unsigned originalEdges : 29;
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bool shortcut : 1;
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bool forward : 1;
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bool backward : 1;
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union {
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NodeID middle; // shortcut
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unsigned id; // original edge
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};
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} data;
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struct _HeapData {
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};
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typedef DynamicGraph< _EdgeData > _DynamicGraph;
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typedef BinaryHeap< NodeID, NodeID, unsigned, _HeapData > _Heap;
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typedef _DynamicGraph::InputEdge _ImportEdge;
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struct _ThreadData {
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_Heap heap;
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std::vector< _ImportEdge > insertedEdges;
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std::vector< Witness > witnessList;
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std::vector< NodeID > neighbours;
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_ThreadData( NodeID nodes ): heap( nodes ) {
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}
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};
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struct _PriorityData {
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int depth;
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NodeID bias;
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_PriorityData() {
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depth = 0;
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}
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};
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struct _ContractionInformation {
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int edgesDeleted;
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int edgesAdded;
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int originalEdgesDeleted;
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int originalEdgesAdded;
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_ContractionInformation() {
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edgesAdded = edgesDeleted = originalEdgesAdded = originalEdgesDeleted = 0;
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}
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};
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struct _NodePartitionor {
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bool operator()( std::pair< NodeID, bool > nodeData ) {
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return !nodeData.second;
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}
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};
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struct _LogItem {
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unsigned iteration;
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NodeID nodes;
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double contraction;
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double independent;
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double inserting;
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double removing;
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double updating;
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_LogItem() {
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iteration = nodes = contraction = independent = inserting = removing = updating = 0;
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}
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double GetTotalTime() const {
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return contraction + independent + inserting + removing + updating;
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}
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void PrintStatistics() const {
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qDebug( "%d\t%d\t%lf\t%lf\t%lf\t%lf\t%lf", iteration, nodes, independent, contraction, inserting, removing, updating );
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}
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};
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class _LogData {
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public:
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std::vector < _LogItem > iterations;
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unsigned GetNIterations() {
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return ( unsigned ) iterations.size();
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}
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_LogItem GetSum() const {
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_LogItem sum;
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sum.iteration = ( unsigned ) iterations.size();
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for ( int i = 0, e = ( int ) iterations.size(); i < e; ++i ) {
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sum.nodes += iterations[i].nodes;
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sum.contraction += iterations[i].contraction;
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sum.independent += iterations[i].independent;
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sum.inserting += iterations[i].inserting;
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sum.removing += iterations[i].removing;
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sum.updating += iterations[i].updating;
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}
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return sum;
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}
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void PrintHeader() const {
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qDebug( "Iteration\tNodes\tIndependent\tContraction\tInserting\tRemoving\tUpdating" );
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}
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void PrintSummary() const {
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PrintHeader();
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GetSum().PrintStatistics();
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}
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void Print() const {
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PrintHeader();
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for ( int i = 0, e = ( int ) iterations.size(); i < e; ++i )
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iterations[i].PrintStatistics();
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}
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void Insert( const _LogItem& data ) {
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iterations.push_back( data );
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}
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};
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public:
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template< class InputEdge >
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Contractor( int nodes, const std::vector< InputEdge >& inputEdges ) {
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std::vector< _ImportEdge > edges;
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edges.reserve( 2 * inputEdges.size() );
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int skippedLargeEdges = 0;
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for ( typename std::vector< InputEdge >::const_iterator i = inputEdges.begin(), e = inputEdges.end(); i != e; ++i ) {
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_ImportEdge edge;
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edge.source = i->source;
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edge.target = i->target;
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edge.data.distance = std::max( i->distance * 10.0 + 0.5, 1.0 );
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if ( edge.data.distance > 24 * 60 * 60 * 10 ) {
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skippedLargeEdges++;
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continue;
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}
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edge.data.shortcut = false;
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edge.data.id = i - inputEdges.begin();
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edge.data.forward = true;
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edge.data.backward = i->bidirectional;
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edge.data.originalEdges = 1;
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if ( edge.data.distance < 1 ) {
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qDebug() << edge.source << edge.target << edge.data.forward << edge.data.backward << edge.data.distance << edge.data.id << i->distance;
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}
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if ( edge.source == edge.target ) {
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_loops.push_back( edge );
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continue;
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}
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edges.push_back( edge );
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std::swap( edge.source, edge.target );
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edge.data.forward = i->bidirectional;
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edge.data.backward = true;
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edges.push_back( edge );
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}
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if ( skippedLargeEdges != 0 )
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qDebug( "Skipped %d edges with too large edge weight", skippedLargeEdges );
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std::sort( edges.begin(), edges.end() );
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_graph = new _DynamicGraph( nodes, edges );
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std::vector< _ImportEdge >().swap( edges );
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}
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~Contractor() {
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delete _graph;
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}
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void Run() {
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const NodeID numberOfNodes = _graph->GetNumberOfNodes();
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_LogData log;
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int maxThreads = omp_get_max_threads();
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std::vector < _ThreadData* > threadData;
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for ( int threadNum = 0; threadNum < maxThreads; ++threadNum ) {
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threadData.push_back( new _ThreadData( numberOfNodes ) );
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}
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qDebug( "%d nodes, %d edges", numberOfNodes, _graph->GetNumberOfEdges() );
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qDebug( "using %d threads", maxThreads );
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NodeID levelID = 0;
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NodeID iteration = 0;
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std::vector< std::pair< NodeID, bool > > remainingNodes( numberOfNodes );
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std::vector< double > nodePriority( numberOfNodes );
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std::vector< _PriorityData > nodeData( numberOfNodes );
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//initialize the variables
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#pragma omp parallel for schedule ( guided )
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for ( int x = 0; x < ( int ) numberOfNodes; ++x )
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remainingNodes[x].first = x;
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std::random_shuffle( remainingNodes.begin(), remainingNodes.end() );
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for ( int x = 0; x < ( int ) numberOfNodes; ++x )
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nodeData[remainingNodes[x].first].bias = x;
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qDebug( "Initialise Elimination PQ... " );
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_LogItem statistics0;
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statistics0.updating = _Timestamp();
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statistics0.iteration = 0;
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#pragma omp parallel
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{
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_ThreadData* data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided )
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for ( int x = 0; x < ( int ) numberOfNodes; ++x ) {
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nodePriority[x] = _Evaluate( data, &nodeData[x], x );
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}
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}
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qDebug( "done" );
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statistics0.updating = _Timestamp() - statistics0.updating;
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log.Insert( statistics0 );
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log.PrintHeader();
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statistics0.PrintStatistics();
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while ( levelID < numberOfNodes ) {
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_LogItem statistics;
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statistics.iteration = iteration++;
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const int last = ( int ) remainingNodes.size();
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//determine independent node set
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double timeLast = _Timestamp();
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#pragma omp parallel
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{
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_ThreadData* const data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided )
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for ( int i = 0; i < last; ++i ) {
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const NodeID node = remainingNodes[i].first;
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remainingNodes[i].second = _IsIndependent( nodePriority, nodeData, data, node );
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}
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}
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_NodePartitionor functor;
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const std::vector < std::pair < NodeID, bool > >::const_iterator first = stable_partition( remainingNodes.begin(), remainingNodes.end(), functor );
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const int firstIndependent = first - remainingNodes.begin();
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statistics.nodes = last - firstIndependent;
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statistics.independent += _Timestamp() - timeLast;
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timeLast = _Timestamp();
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//contract independent nodes
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#pragma omp parallel
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{
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_ThreadData* const data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided ) nowait
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for ( int position = firstIndependent ; position < last; ++position ) {
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NodeID x = remainingNodes[position].first;
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_Contract< false > ( data, x );
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nodePriority[x] = -1;
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}
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std::sort( data->insertedEdges.begin(), data->insertedEdges.end() );
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}
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statistics.contraction += _Timestamp() - timeLast;
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timeLast = _Timestamp();
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#pragma omp parallel
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{
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_ThreadData* const data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided ) nowait
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for ( int position = firstIndependent ; position < last; ++position ) {
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NodeID x = remainingNodes[position].first;
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_DeleteIncommingEdges( data, x );
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}
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}
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statistics.removing += _Timestamp() - timeLast;
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timeLast = _Timestamp();
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//insert new edges
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for ( int threadNum = 0; threadNum < maxThreads; ++threadNum ) {
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_ThreadData& data = *threadData[threadNum];
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for ( int i = 0; i < ( int ) data.insertedEdges.size(); ++i ) {
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const _ImportEdge& edge = data.insertedEdges[i];
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_graph->InsertEdge( edge.source, edge.target, edge.data );
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}
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std::vector< _ImportEdge >().swap( data.insertedEdges );
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}
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statistics.inserting += _Timestamp() - timeLast;
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timeLast = _Timestamp();
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//update priorities
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#pragma omp parallel
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{
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_ThreadData* const data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided ) nowait
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for ( int position = firstIndependent ; position < last; ++position ) {
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NodeID x = remainingNodes[position].first;
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_UpdateNeighbours( &nodePriority, &nodeData, data, x );
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}
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}
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statistics.updating += _Timestamp() - timeLast;
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timeLast = _Timestamp();
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//output some statistics
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statistics.PrintStatistics();
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//qDebug( wxT( "Printed" ) );
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//remove contracted nodes from the pool
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levelID += last - firstIndependent;
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remainingNodes.resize( firstIndependent );
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std::vector< std::pair< NodeID, bool > >( remainingNodes ).swap( remainingNodes );
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log.Insert( statistics );
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}
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for ( int threadNum = 0; threadNum < maxThreads; threadNum++ ) {
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_witnessList.insert( _witnessList.end(), threadData[threadNum]->witnessList.begin(), threadData[threadNum]->witnessList.end() );
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delete threadData[threadNum];
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}
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log.PrintSummary();
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qDebug( "Total Time: %lf s", log.GetSum().GetTotalTime() );
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}
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template< class Edge >
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void GetEdges( std::vector< Edge >* edges ) {
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NodeID numberOfNodes = _graph->GetNumberOfNodes();
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for ( NodeID node = 0; node < numberOfNodes; ++node ) {
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for ( _DynamicGraph::EdgeIterator edge = _graph->BeginEdges( node ), endEdges = _graph->EndEdges( node ); edge != endEdges; ++edge ) {
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const NodeID target = _graph->GetTarget( edge );
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const _EdgeData& data = _graph->GetEdgeData( edge );
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Edge newEdge;
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newEdge.source = node;
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newEdge.target = target;
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newEdge.data.distance = data.distance;
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newEdge.data.shortcut = data.shortcut;
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if ( data.shortcut )
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newEdge.data.middle = data.middle;
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else
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newEdge.data.id = data.id;
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newEdge.data.forward = data.forward;
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newEdge.data.backward = data.backward;
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edges->push_back( newEdge );
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}
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}
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}
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template< class Edge >
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void GetLoops( std::vector< Edge >* edges ) {
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for ( unsigned i = 0; i < _loops.size(); i++ ) {
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Edge newEdge;
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newEdge.source = _loops[i].source;
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newEdge.target = _loops[i].target;
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newEdge.data.distance = _loops[i].data.distance;
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newEdge.data.shortcut = _loops[i].data.shortcut;
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newEdge.data.id = _loops[i].data.id;
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newEdge.data.forward = _loops[i].data.forward;
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newEdge.data.backward = _loops[i].data.backward;
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edges->push_back( newEdge );
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}
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}
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void GetWitnessList( std::vector< Witness >& list ) {
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list = _witnessList;
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}
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private:
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double _Timestamp() {
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static Timer timer;
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return ( double ) timer.elapsed() / 1000;
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}
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bool _ConstructCH( _DynamicGraph* _graph );
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void _Dijkstra( const unsigned maxDistance, const int maxNodes, _ThreadData* const data ){
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_Heap& heap = data->heap;
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int nodes = 0;
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while ( heap.Size() > 0 ) {
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const NodeID node = heap.DeleteMin();
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const unsigned distance = heap.GetKey( node );
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if ( nodes++ > maxNodes )
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return;
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//Destination settled?
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if ( distance > maxDistance )
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return;
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//iterate over all edges of node
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for ( _DynamicGraph::EdgeIterator edge = _graph->BeginEdges( node ), endEdges = _graph->EndEdges( node ); edge != endEdges; ++edge ) {
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const _EdgeData& data = _graph->GetEdgeData( edge );
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if ( !data.forward )
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continue;
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const NodeID to = _graph->GetTarget( edge );
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const unsigned toDistance = distance + data.distance;
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//New Node discovered -> Add to Heap + Node Info Storage
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if ( !heap.WasInserted( to ) )
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heap.Insert( to, toDistance, _HeapData() );
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//Found a shorter Path -> Update distance
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else if ( toDistance < heap.GetKey( to ) ) {
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heap.DecreaseKey( to, toDistance );
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}
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}
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}
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}
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double _Evaluate( _ThreadData* const data, _PriorityData* const nodeData, NodeID node ){
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_ContractionInformation stats;
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//perform simulated contraction
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_Contract< true > ( data, node, &stats );
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// Result will contain the priority
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double result;
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if ( stats.edgesDeleted == 0 || stats.originalEdgesDeleted == 0 )
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result = 1 * nodeData->depth;
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else
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result = 2 * ((( double ) stats.edgesAdded ) / stats.edgesDeleted ) + 1 * ((( double ) stats.originalEdgesAdded ) / stats.originalEdgesDeleted ) + 1 * nodeData->depth;
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assert( result >= 0 );
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return result;
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}
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template< bool Simulate > bool _Contract( _ThreadData* const data, NodeID node, _ContractionInformation* const stats = NULL ) {
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_Heap& heap = data->heap;
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//std::vector< Witness >& witnessList = data->witnessList;
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int insertedEdgesSize = data->insertedEdges.size();
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std::vector< _ImportEdge >& insertedEdges = data->insertedEdges;
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for ( _DynamicGraph::EdgeIterator inEdge = _graph->BeginEdges( node ), endInEdges = _graph->EndEdges( node ); inEdge != endInEdges; ++inEdge ) {
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const _EdgeData& inData = _graph->GetEdgeData( inEdge );
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const NodeID source = _graph->GetTarget( inEdge );
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if ( Simulate ) {
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assert( stats != NULL );
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stats->edgesDeleted++;
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stats->originalEdgesDeleted += inData.originalEdges;
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}
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if ( !inData.backward )
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continue;
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heap.Clear();
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heap.Insert( source, 0, _HeapData() );
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if ( node != source )
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heap.Insert( node, inData.distance, _HeapData() );
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unsigned maxDistance = 0;
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for ( _DynamicGraph::EdgeIterator outEdge = _graph->BeginEdges( node ), endOutEdges = _graph->EndEdges( node ); outEdge != endOutEdges; ++outEdge ) {
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const _EdgeData& outData = _graph->GetEdgeData( outEdge );
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if ( !outData.forward )
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continue;
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const NodeID target = _graph->GetTarget( outEdge );
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const unsigned pathDistance = inData.distance + outData.distance;
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maxDistance = std::max( maxDistance, pathDistance );
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if ( !heap.WasInserted( target ) )
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heap.Insert( target, pathDistance, _HeapData() );
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else if ( pathDistance < heap.GetKey( target ) )
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heap.DecreaseKey( target, pathDistance );
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}
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if ( Simulate )
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_Dijkstra( maxDistance, 500, data );
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else
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_Dijkstra( maxDistance, 1000, data );
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for ( _DynamicGraph::EdgeIterator outEdge = _graph->BeginEdges( node ), endOutEdges = _graph->EndEdges( node ); outEdge != endOutEdges; ++outEdge ) {
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const _EdgeData& outData = _graph->GetEdgeData( outEdge );
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if ( !outData.forward )
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continue;
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const NodeID target = _graph->GetTarget( outEdge );
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const int pathDistance = inData.distance + outData.distance;
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const int distance = heap.GetKey( target );
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if ( pathDistance <= distance ) {
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if ( Simulate ) {
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assert( stats != NULL );
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stats->edgesAdded += 2;
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stats->originalEdgesAdded += 2 * ( outData.originalEdges + inData.originalEdges );
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} else {
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_ImportEdge newEdge;
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newEdge.source = source;
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newEdge.target = target;
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newEdge.data.distance = pathDistance;
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newEdge.data.forward = true;
|
|
newEdge.data.backward = false;
|
|
newEdge.data.middle = node;
|
|
newEdge.data.shortcut = true;
|
|
newEdge.data.originalEdges = outData.originalEdges + inData.originalEdges;
|
|
insertedEdges.push_back( newEdge );
|
|
std::swap( newEdge.source, newEdge.target );
|
|
newEdge.data.forward = false;
|
|
newEdge.data.backward = true;
|
|
insertedEdges.push_back( newEdge );
|
|
}
|
|
}
|
|
/*else if ( !Simulate ) {
|
|
Witness witness;
|
|
witness.source = source;
|
|
witness.target = target;
|
|
witness.middle = node;
|
|
witnessList.push_back( witness );
|
|
}*/
|
|
}
|
|
}
|
|
|
|
if ( !Simulate ) {
|
|
for ( int i = insertedEdgesSize, iend = insertedEdges.size(); i < iend; i++ ) {
|
|
bool found = false;
|
|
for ( int other = i + 1 ; other < iend ; ++other ) {
|
|
if ( insertedEdges[other].source != insertedEdges[i].source )
|
|
continue;
|
|
if ( insertedEdges[other].target != insertedEdges[i].target )
|
|
continue;
|
|
if ( insertedEdges[other].data.distance != insertedEdges[i].data.distance )
|
|
continue;
|
|
if ( insertedEdges[other].data.shortcut != insertedEdges[i].data.shortcut )
|
|
continue;
|
|
insertedEdges[other].data.forward |= insertedEdges[i].data.forward;
|
|
insertedEdges[other].data.backward |= insertedEdges[i].data.backward;
|
|
found = true;
|
|
break;
|
|
}
|
|
if ( !found )
|
|
insertedEdges[insertedEdgesSize++] = insertedEdges[i];
|
|
}
|
|
insertedEdges.resize( insertedEdgesSize );
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool _DeleteIncommingEdges( _ThreadData* const data, NodeID node ) {
|
|
std::vector< NodeID >& neighbours = data->neighbours;
|
|
neighbours.clear();
|
|
|
|
//find all neighbours
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) {
|
|
const NodeID u = _graph->GetTarget( e );
|
|
if ( u == node )
|
|
continue;
|
|
neighbours.push_back( u );
|
|
}
|
|
//eliminate duplicate entries ( forward + backward edges )
|
|
std::sort( neighbours.begin(), neighbours.end() );
|
|
neighbours.resize( std::unique( neighbours.begin(), neighbours.end() ) - neighbours.begin() );
|
|
|
|
for ( int i = 0, e = ( int ) neighbours.size(); i < e; ++i ) {
|
|
const NodeID u = neighbours[i];
|
|
_graph->DeleteEdgesTo( u, node );
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool _UpdateNeighbours( std::vector< double >* priorities, std::vector< _PriorityData >* const nodeData, _ThreadData* const data, NodeID node ) {
|
|
std::vector< NodeID >& neighbours = data->neighbours;
|
|
neighbours.clear();
|
|
|
|
//find all neighbours
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) {
|
|
const NodeID u = _graph->GetTarget( e );
|
|
if ( u == node )
|
|
continue;
|
|
neighbours.push_back( u );
|
|
( *nodeData )[u].depth = std::max(( *nodeData )[node].depth + 1, ( *nodeData )[u].depth );
|
|
}
|
|
//eliminate duplicate entries ( forward + backward edges )
|
|
std::sort( neighbours.begin(), neighbours.end() );
|
|
neighbours.resize( std::unique( neighbours.begin(), neighbours.end() ) - neighbours.begin() );
|
|
|
|
for ( int i = 0, e = ( int ) neighbours.size(); i < e; ++i ) {
|
|
const NodeID u = neighbours[i];
|
|
( *priorities )[u] = _Evaluate( data, &( *nodeData )[u], u );
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool _IsIndependent( const std::vector< double >& priorities, const std::vector< _PriorityData >& nodeData, _ThreadData* const data, NodeID node ) {
|
|
const double priority = priorities[node];
|
|
|
|
std::vector< NodeID >& neighbours = data->neighbours;
|
|
neighbours.clear();
|
|
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) {
|
|
const NodeID target = _graph->GetTarget( e );
|
|
const double targetPriority = priorities[target];
|
|
assert( targetPriority >= 0 );
|
|
//found a neighbour with lower priority?
|
|
if ( priority > targetPriority )
|
|
return false;
|
|
//tie breaking
|
|
if ( priority == targetPriority && nodeData[node].bias < nodeData[target].bias )
|
|
return false;
|
|
neighbours.push_back( target );
|
|
}
|
|
|
|
std::sort( neighbours.begin(), neighbours.end() );
|
|
neighbours.resize( std::unique( neighbours.begin(), neighbours.end() ) - neighbours.begin() );
|
|
|
|
//examine all neighbours that are at most 2 hops away
|
|
for ( std::vector< NodeID >::const_iterator i = neighbours.begin(), lastNode = neighbours.end(); i != lastNode; ++i ) {
|
|
const NodeID u = *i;
|
|
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( u ) ; e < _graph->EndEdges( u ) ; ++e ) {
|
|
const NodeID target = _graph->GetTarget( e );
|
|
|
|
const double targetPriority = priorities[target];
|
|
assert( targetPriority >= 0 );
|
|
//found a neighbour with lower priority?
|
|
if ( priority > targetPriority )
|
|
return false;
|
|
//tie breaking
|
|
if ( priority == targetPriority && nodeData[node].bias < nodeData[target].bias )
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
_DynamicGraph* _graph;
|
|
std::vector< Witness > _witnessList;
|
|
std::vector< _ImportEdge > _loops;
|
|
};
|
|
|
|
#endif // CONTRACTOR_H_INCLUDED
|