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Support edge visit callbacks in util::pathfinder

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This commit is contained in:
Nikita Lisitsa 2022-06-26 12:27:38 +03:00
parent 012591da85
commit dc232b8fba
1 changed files with 21 additions and 3 deletions
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24
libs/util/include/psemek/util/find_path.hpp
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@ -1,5 +1,7 @@
#pragma once
#include <psemek/util/functional.hpp>
#include <unordered_map>
#include <set>
#include <deque>
@ -8,7 +10,7 @@
namespace psemek::util
{
template <typename Cost, typename Node, typename NeighboursFn, typename HeuristicFn>
template <typename Cost, typename Node, typename NeighboursFn, typename HeuristicFn, typename EdgeCallback>
struct pathfinder
{
struct node_compare
@ -30,15 +32,17 @@ namespace psemek::util
NeighboursFn node_neighbours;
HeuristicFn heuristic;
EdgeCallback edge_callback;
std::unordered_map<Node, Cost> cost;
std::unordered_map<Node, Cost> priority;
std::unordered_map<Node, Node> previous;
std::set<Node, node_compare> queue;
pathfinder(NeighboursFn && node_neighbours, HeuristicFn && heuristic)
pathfinder(NeighboursFn && node_neighbours, HeuristicFn && heuristic, EdgeCallback && edge_callback)
: node_neighbours(std::forward<NeighboursFn>(node_neighbours))
, heuristic(std::forward<HeuristicFn>(heuristic))
, edge_callback(std::forward<EdgeCallback>(edge_callback))
, queue(node_compare{priority})
{}
@ -72,6 +76,8 @@ namespace psemek::util
node_neighbours(node, [&](Node const & neighbour, Cost const & edge_cost){
Cost const new_cost = node_cost + edge_cost;
edge_callback(node, node_cost, neighbour, edge_cost);
auto it = cost.find(neighbour);
if (it == cost.end() || new_cost < it->second)
@ -117,10 +123,22 @@ namespace psemek::util
}
};
template <typename Cost, typename Node, typename NeighboursFn, typename HeuristicFn, typename EdgeCallback>
auto make_pathfinder(NeighboursFn && node_neighbours, HeuristicFn && heuristic, EdgeCallback && edge_callback)
{
return pathfinder<Cost, Node, NeighboursFn, HeuristicFn, EdgeCallback>(std::forward<NeighboursFn>(node_neighbours), std::forward<HeuristicFn>(heuristic), std::forward<EdgeCallback>(edge_callback));
}
template <typename Cost, typename Node, typename NeighboursFn, typename HeuristicFn>
auto make_pathfinder(NeighboursFn && node_neighbours, HeuristicFn && heuristic)
{
return pathfinder<Cost, Node, NeighboursFn, HeuristicFn, decltype(util::nop)>(std::forward<NeighboursFn>(node_neighbours), std::forward<HeuristicFn>(heuristic), util::nop);
}
template <typename Cost, typename Node, typename NeighboursFn, typename HeuristicFn>
std::optional<std::deque<Node>> find_path(Node const & start, Node const & end, NeighboursFn && node_neighbours, HeuristicFn && heuristic)
{
pathfinder<Cost, Node, NeighboursFn, HeuristicFn> helper(std::forward<NeighboursFn>(node_neighbours), std::forward<HeuristicFn>(heuristic));
auto helper = make_pathfinder<Cost, Node>(std::forward<NeighboursFn>(node_neighbours), std::forward<HeuristicFn>(heuristic));
helper.init(start);
bool found = false;