1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
|
/*PGR-GNU*****************************************************************
File: pgr_bdAstar.hpp
Generated with Template by:
Copyright (c) 2015 pgRouting developers
Mail: project@pgrouting.org
Function's developer:
Copyright (c) 2015 Celia Virginia Vergara Castillo
Mail:
------
This program 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 2 of the License, or
(at your option) any later version.
This program 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 this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
********************************************************************PGR-GNU*/
#ifndef INCLUDE_BDASTAR_PGR_BDASTAR_HPP_
#define INCLUDE_BDASTAR_PGR_BDASTAR_HPP_
#pragma once
#include "cpp_common/pgr_bidirectional.hpp"
#include <string>
#include <queue>
#include <utility>
#include <vector>
#include <limits>
#include <functional>
#include "cpp_common/basePath_SSEC.hpp"
namespace pgrouting {
namespace bidirectional {
template < typename G >
class Pgr_bdAstar : public Pgr_bidirectional<G> {
typedef typename Pgr_bidirectional<G>::V V;
typedef typename Pgr_bidirectional<G>::E E;
typedef typename Pgr_bidirectional<G>::Cost_Vertex_pair Cost_Vertex_pair;
using Pgr_bidirectional<G>::graph;
using Pgr_bidirectional<G>::m_log;
using Pgr_bidirectional<G>::v_source;
using Pgr_bidirectional<G>::v_target;
using Pgr_bidirectional<G>::backward_predecessor;
using Pgr_bidirectional<G>::backward_queue;
using Pgr_bidirectional<G>::backward_finished;
using Pgr_bidirectional<G>::backward_cost;
using Pgr_bidirectional<G>::backward_edge;
using Pgr_bidirectional<G>::forward_predecessor;
using Pgr_bidirectional<G>::forward_queue;
using Pgr_bidirectional<G>::forward_finished;
using Pgr_bidirectional<G>::forward_cost;
using Pgr_bidirectional<G>::forward_edge;
using Pgr_bidirectional<G>::bidirectional;
public:
explicit Pgr_bdAstar(G &pgraph) :
Pgr_bidirectional<G>(pgraph),
m_heuristic(5),
m_factor(1.0) {
m_log << "pgr_bdAstar constructor\n";
}
~Pgr_bdAstar() = default;
Path pgr_bdAstar(V start_vertex, V end_vertex,
int heuristic,
double factor,
double epsilon,
bool only_cost) {
m_log << "pgr_bdAstar\n";
v_source = start_vertex;
v_target = end_vertex;
m_heuristic = heuristic;
m_factor = factor * epsilon;
return bidirectional(only_cost);
}
using Pgr_bidirectional<G>::log;
using Pgr_bidirectional<G>::clean_log;
private:
void explore_forward(const Cost_Vertex_pair &node) {
typename G::EO_i out, out_end;
auto current_node = node.second;
auto current_node_cost = forward_cost[current_node];
for (boost::tie(out, out_end) = out_edges(current_node, graph.graph);
out != out_end; ++out) {
auto edge_cost = graph[*out].cost;
auto next_node = graph.adjacent(current_node, *out);
if (forward_finished[next_node]) continue;
if (edge_cost + current_node_cost < forward_cost[next_node]) {
forward_cost[next_node] = edge_cost + current_node_cost;
forward_predecessor[next_node] = current_node;
forward_edge[next_node] = graph[*out].id;
forward_queue.push({
forward_cost[next_node]
+ heuristic(next_node, v_target),
next_node});
}
}
forward_finished[current_node] = true;
}
void explore_backward(const Cost_Vertex_pair &node) {
typename G::EI_i in, in_end;
auto current_cost = node.first;
auto current_node = node.second;
for (boost::tie(in, in_end) = in_edges(current_node, graph.graph);
in != in_end; ++in) {
auto edge_cost = graph[*in].cost;
auto next_node = graph.adjacent(current_node, *in);
if (backward_finished[next_node]) continue;
if (edge_cost + current_cost < backward_cost[next_node]) {
backward_cost[next_node] = edge_cost + current_cost;
backward_predecessor[next_node] = current_node;
backward_edge[next_node] = graph[*in].id;
backward_queue.push({
backward_cost[next_node]
+ heuristic(next_node, v_source),
next_node});
}
}
backward_finished[current_node] = true;
}
double heuristic(V v, V u) {
if (m_heuristic == 0) return 0;
double dx = graph[v].x() - graph[u].x();
double dy = graph[v].y() - graph[u].y();
double current;
switch (m_heuristic) {
case 0:
current = 0;
break;
case 1:
current = std::fabs((std::max)(dx, dy)) * m_factor;
break;
case 2:
current = std::fabs((std::min)(dx, dy)) * m_factor;
break;
case 3:
current = (dx * dx + dy * dy) * m_factor * m_factor;
break;
case 4:
current = std::sqrt(dx * dx + dy * dy) * m_factor;
break;
case 5:
current = (std::fabs(dx) + std::fabs(dy)) * m_factor;
break;
default:
current = 0;
}
return current;
}
private:
int m_heuristic;
double m_factor;
};
} // namespace bidirectional
} // namespace pgrouting
#endif // INCLUDE_BDASTAR_PGR_BDASTAR_HPP_
|
