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66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
#pragma once
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#include "routing/base/astar_weight.hpp"
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#include "routing/base/astar_vertex_data.hpp"
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#include "routing/base/small_list.hpp"
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#include "base/buffer_vector.hpp"
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#include <map>
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#include <vector>
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#include "3party/skarupke/bytell_hash_map.hpp"
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namespace routing
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{
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template <typename VertexType, typename EdgeType, typename WeightType>
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class AStarGraph
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{
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public:
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using Vertex = VertexType;
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using Edge = EdgeType;
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using Weight = WeightType;
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using Parents = ska::bytell_hash_map<Vertex, Vertex>;
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using EdgeListT = SmallList<Edge>;
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virtual Weight HeuristicCostEstimate(Vertex const & from, Vertex const & to) = 0;
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virtual void GetOutgoingEdgesList(astar::VertexData<Vertex, Weight> const & vertexData,
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EdgeListT & edges) = 0;
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virtual void GetIngoingEdgesList(astar::VertexData<Vertex, Weight> const & vertexData,
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EdgeListT & edges) = 0;
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virtual void SetAStarParents(bool forward, Parents & parents);
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virtual void DropAStarParents();
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virtual bool AreWavesConnectible(Parents & forwardParents, Vertex const & commonVertex,
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Parents & backwardParents);
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virtual Weight GetAStarWeightEpsilon();
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virtual ~AStarGraph() = default;
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};
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template <typename VertexType, typename EdgeType, typename WeightType>
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void AStarGraph<VertexType, EdgeType, WeightType>::SetAStarParents(bool /* forward */,
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Parents & /* parents */) {}
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template <typename VertexType, typename EdgeType, typename WeightType>
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void AStarGraph<VertexType, EdgeType, WeightType>::DropAStarParents() {}
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template <typename VertexType, typename EdgeType, typename WeightType>
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bool AStarGraph<VertexType, EdgeType, WeightType>::AreWavesConnectible(AStarGraph::Parents & /* forwardParents */,
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Vertex const & /* commonVertex */,
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AStarGraph::Parents & /* backwardParents */)
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{
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return true;
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}
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template <typename VertexType, typename EdgeType, typename WeightType>
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WeightType AStarGraph<VertexType, EdgeType, WeightType>::GetAStarWeightEpsilon()
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{
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return routing::GetAStarWeightEpsilon<WeightType>();
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}
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} // namespace routing
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