mirror of
git://projects.qi-hardware.com/nanomap.git
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136 lines
3.7 KiB
C++
136 lines
3.7 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 EDGECONNECTOR_H
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#define EDGECONNECTOR_H
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#include "utils/coordinates.h"
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#include <vector>
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#include <QMultiHash>
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#include <algorithm>
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static uint qHash( const UnsignedCoordinate& key )
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{
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return qHash( key.x ) ^ qHash( key.y );
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}
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template< class Node >
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class EdgeConnector
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{
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public:
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struct Edge {
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Node source;
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Node target;
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bool reverseable;
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};
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static void run( std::vector< unsigned >* segments, std::vector< unsigned >* segmentDescriptions, std::vector< bool >* reversed, const std::vector< Edge >& edges )
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{
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// build node index
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QMultiHash< Node, unsigned > nodes;
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QMultiHash< Node, unsigned > backwardNodes;
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for ( unsigned i = 0; i < edges.size(); i++ ) {
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nodes.insert( edges[i].source, i );
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backwardNodes.insert( edges[i].target, i );
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if ( edges[i].reverseable ) {
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nodes.insert( edges[i].target, i );
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backwardNodes.insert( edges[i].source, i );
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}
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}
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std::vector< bool > used( edges.size(), false );
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reversed->resize( edges.size(), false );
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for ( unsigned i = 0; i < edges.size(); i++ ) {
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if ( used[i] )
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continue;
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unsigned lastSize = segmentDescriptions->size();
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segmentDescriptions->push_back( i );
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used[i] = true;
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removeEdge( &nodes, &backwardNodes, edges[i], i );
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// chain edges forward
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Node lastNode = edges[i].target;
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while ( nodes.contains( lastNode ) ) {
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unsigned nextEdge = nodes.value( lastNode );
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assert( !used[nextEdge] );
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if ( lastNode != edges[nextEdge].source ) {
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assert( lastNode == edges[nextEdge].target );
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assert( edges[nextEdge].reverseable );
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( *reversed )[nextEdge] = true;
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lastNode = edges[nextEdge].source;
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} else {
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lastNode = edges[nextEdge].target;
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}
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segmentDescriptions->push_back( nextEdge );
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used[nextEdge] = true;
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removeEdge( &nodes, &backwardNodes, edges[nextEdge], nextEdge );
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}
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// chain edges backward
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std::vector< unsigned > backwardsPath;
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lastNode = edges[i].source;
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while ( backwardNodes.contains( lastNode ) ) {
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unsigned nextEdge = backwardNodes.value( lastNode );
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assert( !used[nextEdge] );
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if ( lastNode != edges[nextEdge].target ) {
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assert( lastNode == edges[nextEdge].source );
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assert( edges[nextEdge].reverseable );
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( *reversed )[nextEdge] = true;
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lastNode = edges[nextEdge].target;
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} else {
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lastNode = edges[nextEdge].source;
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}
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backwardsPath.push_back( nextEdge );
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used[nextEdge] = true;
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removeEdge( &nodes, &backwardNodes, edges[nextEdge], nextEdge );
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}
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segmentDescriptions->insert( segmentDescriptions->begin() + lastSize, backwardsPath.rbegin(), backwardsPath.rend() );
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segments->push_back( segmentDescriptions->size() - lastSize );
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}
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assert( segmentDescriptions->size() == edges.size() );
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}
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protected:
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static void removeEdge( QMultiHash< Node, unsigned >* nodes, QMultiHash< Node, unsigned >* backwardsNodes, const Edge& edge, unsigned value )
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{
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nodes->remove( edge.source, value );
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nodes->remove( edge.target, value );
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backwardsNodes->remove( edge.target, value );
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backwardsNodes->remove( edge.source, value );
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}
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};
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#endif // EDGECONNECTOR_H
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