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0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 @@ -1125,8 +1125,8 @@ - - + + @@ -1164,21 +1164,21 @@ - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + @@ -1249,14 +1249,14 @@ - - - - - - - - + + + + + + + + @@ -1307,100 +1307,100 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -1497,108 +1497,504 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + -
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diff --git a/isearch.cpp b/isearch.cpp index d1023fe..5926ff9 100644 --- a/isearch.cpp +++ b/isearch.cpp @@ -14,7 +14,6 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ auto start = std::chrono::system_clock::now(); sresult.nodescreated = 0; sresult.numberofsteps = 0; - sresult.pathfound = false; /*sresult.pathfound = ; sresult.nodescreated = ; sresult.numberofsteps = ; @@ -29,40 +28,16 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ std::cout << '\n'; }*/ - h = map.getMapHeight(); - w = map.getMapWidth(); - openSize = 0; - closeSize = 0; - //close.assign(h, std::vector(w)); - //open.assign(h, std::vector(w)); - close.clear(); - Node startNode = Node(map.getStart()); - Node goalNode = Node(map.getGoal()); - //open[startNode.i][startNode.j] = new Node(startNode); - startNode.H = computeHFromCellToCell(startNode.i, startNode.j, goalNode.i, goalNode.j, options); - startNode.F = hweight * startNode.H; - addOpen(new Node(startNode)); - + int h = map.getMapHeight(); + int w = map.getMapWidth(); + close.assign(h, std::vector(w)); + open.assign(h, std::vector(w)); + Node startNode(map.getStart()); + Node goalNode(map.getGoal()); + open[startNode.i][startNode.j] = new Node(startNode); for(;;) { //infinity circle - //Node* indPtr = open[goalNode.i][goalNode.j]; - Node* indPtr = extMin(); - - if (indPtr == nullptr) { - break; - } - - if (isClosed(indPtr)) { - delete(indPtr); - continue; - } - - addClose(indPtr); - if ((indPtr->i == goalNode.i) && (indPtr->j == goalNode.j)) { - sresult.pathfound = true; - break; - }; - - /*for (int i = 0; i < h; ++i) { + Node* indPtr = open[goalNode.i][goalNode.j]; + for (int i = 0; i < h; ++i) { for (int j = 0; j < w; ++j) { ++sresult.numberofsteps; if ((close[i][j]) || (open[i][j] == nullptr)) { @@ -91,16 +66,16 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ break; } - close[indPtr->i][indPtr->j] = true;*/ + close[indPtr->i][indPtr->j] = true; - auto listSuccessors = findSuccessors(indPtr, map, options); + auto listSuccessors = findSuccessors(*indPtr, map, options); for (auto cur : listSuccessors) { - //++sresult.numberofsteps; - /*if (close[cur.i][cur.j]) { + ++sresult.numberofsteps; + if (close[cur.i][cur.j]) { continue; - }*/ + } - /*if (open[cur.i][cur.j] == nullptr) { + if (open[cur.i][cur.j] == nullptr) { open[cur.i][cur.j] = new Node(cur); open[cur.i][cur.j]->g += open[indPtr->i][indPtr->j]->g; open[cur.i][cur.j]->F = open[cur.i][cur.j]->g; @@ -109,27 +84,18 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ open[cur.i][cur.j]->g = open[indPtr->i][indPtr->j]->F + cur.F; open[cur.i][cur.j]->F = open[cur.i][cur.j]->g; open[cur.i][cur.j]->parent = indPtr; - }*/ - - addOpen(cur); + } } } - //std::cout << "somlfjklsd\n"; - - //sresult.pathfound = close[goalNode.i][goalNode.j]; - Node* goalPoint; - sresult.numberofsteps = closeSize; - sresult.nodescreated = openSize + closeSize; + sresult.pathfound = close[goalNode.i][goalNode.j]; if (sresult.pathfound) { - goalPoint = close.find(goalNode.i * w + goalNode.j)->second; - sresult.pathlength = goalPoint->g; - makePrimaryPath(goalPoint); + sresult.pathlength = open[goalNode.i][goalNode.j]->F; + makePrimaryPath(open[goalNode.i][goalNode.j]); } else { sresult.pathlength = 0; - goalPoint = nullptr; } auto end = std::chrono::system_clock::now(); @@ -149,19 +115,18 @@ SearchResult ISearch::startSearch(ILogger *Logger, const Map &map, const Environ sresult.hppath = &hppath; //Here is a constant pointer*/ sresult.lppath = &lppath; - /*for (int i = 0; i < h; ++i) { + for (int i = 0; i < h; ++i) { for (int j = 0; j < w; ++j) { delete(open[i][j]); } - }*/ - cleanMemory(); + } return sresult; } -std::list ISearch::findSuccessors(Node* curNode, const Map &map, const EnvironmentOptions &options) +std::list ISearch::findSuccessors(Node curNode, const Map &map, const EnvironmentOptions &options) { - std::list successors; + std::list successors; std::vector orient = {-1, 0, 1}; for (auto cur_i : orient) { for (auto cur_j : orient) { @@ -169,22 +134,22 @@ std::list ISearch::findSuccessors(Node* curNode, const Map &map, const En continue; } - if ((map.getValue(curNode->i + cur_i, curNode->j + cur_j)) != CN_GC_NOOBS) { //CN_GC_NOOBS = 0 + if ((map.getValue(curNode.i + cur_i, curNode.j + cur_j)) != CN_GC_NOOBS) { //CN_GC_NOOBS = 0 continue; } if ((cur_i == 0) || (cur_j == 0)) { - successors.push_back(new Node(std::make_pair(curNode->i + cur_i, curNode->j + cur_j))); - successors.back()->g = 1; + successors.push_back(Node(std::make_pair(curNode.i + cur_i, curNode.j + cur_j))); + successors.back().g = 1; } else { bool flag = false; if (options.allowdiagonal) { - if ((map.getValue(curNode->i + cur_i, curNode->j) == CN_GC_NOOBS) - && (map.getValue(curNode->i, curNode->j + cur_j) == CN_GC_NOOBS)) { + if ((map.getValue(curNode.i + cur_i, curNode.j) == CN_GC_NOOBS) + && (map.getValue(curNode.i, curNode.j + cur_j) == CN_GC_NOOBS)) { flag = true; } else if (options.cutcorners) { - if ((map.getValue(curNode->i + cur_i, curNode->j) == CN_GC_NOOBS) - || (map.getValue(curNode->i, curNode->j + cur_j) == CN_GC_NOOBS)) { + if ((map.getValue(curNode.i + cur_i, curNode.j) == CN_GC_NOOBS) + || (map.getValue(curNode.i, curNode.j + cur_j) == CN_GC_NOOBS)) { flag = true; } else if (options.allowsqueeze) { flag = true; @@ -193,24 +158,14 @@ std::list ISearch::findSuccessors(Node* curNode, const Map &map, const En } if (flag) { - successors.push_back(new Node(std::make_pair(curNode->i + cur_i, curNode->j + cur_j))); - successors.back()->g = CN_SQRT_TWO; + successors.push_back(Node(std::make_pair(curNode.i + cur_i, curNode.j + cur_j))); + successors.back().g = CN_SQRT_TWO; } else { continue; } } - if (isClosed(successors.back())) { - delete(successors.back()); - successors.pop_back(); - continue; - } - - successors.back()->g += curNode->g; - successors.back()->H - = computeHFromCellToCell(successors.back()->i, successors.back()->j, goalNode.i, goalNode.j, options); - successors.back()->F = successors.back()->g; - successors.back()->parent = curNode; + successors.back().F = successors.back().g; } } @@ -252,46 +207,3 @@ void ISearch::makeSecondaryPath() --cur; } } - -void ISearch::addOpen(Node* curNode) { - ++openSize; - if (breakingties == CN_SP_BT_GMAX) { - open.push(std::make_pair(std::make_pair(-(curNode->F), curNode->g), curNode)); - } else { - open.push(std::make_pair(std::make_pair(-(curNode->F), -(curNode->g)), curNode)); - } -} - - - -void ISearch::addClose(Node* curNode) { - ++closeSize; - close.insert({curNode->i * w + curNode->j, curNode}); -} - - -Node* ISearch::extMin() { - if (open.empty()) { - return nullptr; - } - - --openSize; - Node* ans = open.top().second; - open.pop(); - return ans; -} - -bool ISearch::isClosed(Node* curNode) { - return (close.find(curNode->i * w + curNode->j) != close.end()); -} - -void ISearch::cleanMemory() { - for (auto cur : close) { - delete(cur.second); - } - - while (!open.empty()) { - delete(open.top().second); - open.pop(); - } -} diff --git a/isearch.h b/isearch.h index 5eb651e..cd6b064 100644 --- a/isearch.h +++ b/isearch.h @@ -3,13 +3,11 @@ #include "ilogger.h" #include "searchresult.h" #include "environmentoptions.h" -#include #include #include #include #include #include -#include class ISearch { @@ -39,17 +37,11 @@ class ISearch //Start with very simple (and ineffective) structures like list or vector and make it work first //and only then begin enhancement! - virtual double computeHFromCellToCell(int i1, int j1, int i2, int j2, const EnvironmentOptions &options) { - return 0; - }; + + virtual double computeHFromCellToCell(int i1, int j1, int i2, int j2, const EnvironmentOptions &options) = 0; void makePrimaryPath(Node* curNode);//Makes path using back pointers void makeSecondaryPath();//Makes another type of path(sections or points) - void addOpen(Node* curNode); - void addClose(Node* curNode); - Node* extMin(); - void cleanMemory(); - bool isClosed(Node* curNode); //std::list findSuccessors(Node curNode, const Map &map, const EnvironmentOptions &options); //void makePrimaryPath(Node curNode);//Makes path using back pointers //void makeSecondaryPath();//Makes another type of path(sections or points) @@ -59,14 +51,9 @@ class ISearch std::list lppath, hppath; double hweight;//weight of h-value bool breakingties;//flag that sets the priority of nodes in addOpen function when their F-values is equal - int h, w; //table size - Node startNode, goalNode; - int openSize, closeSize; //size of open and close nodes //need to define open, close; - //std::vector> close; - //std::vector> open; - std::unordered_map close; - std::priority_queue, Node*>> open; - std::list findSuccessors(Node* curNode, const Map &map, const EnvironmentOptions &options); + std::vector> close; + std::vector> open; + virtual std::list findSuccessors(Node curNode, const Map &map, const EnvironmentOptions &options); }; #endif diff --git a/isearch.o b/isearch.o index 8915a20..0617d05 100644 Binary files a/isearch.o and b/isearch.o differ diff --git a/mission.o b/mission.o index 160460e..24d9143 100644 Binary files a/mission.o and b/mission.o differ diff --git a/pathPlanning.pro.user b/pathPlanning.pro.user index e734538..173eeed 100644 --- a/pathPlanning.pro.user +++ b/pathPlanning.pro.user @@ -1,10 +1,10 @@ - + EnvironmentId - {d643bef5-2b8f-41af-bc04-2fb0777d6542} + {e883ba02-d6e0-4ea6-ba06-754ec0fccfe6} ProjectExplorer.Project.ActiveTarget @@ -54,22 +54,19 @@ ProjectExplorer.Project.PluginSettings - - - true - + ProjectExplorer.Project.Target.0 - Desktop Qt 5.12.0 clang 64bit - Desktop Qt 5.12.0 clang 64bit - qt.qt5.5120.clang_64_kit + Desktop Qt 5.3 MinGW 32bit + Desktop Qt 5.3 MinGW 32bit + qt.53.win32_mingw482_kit 0 0 0 - /Users/Igor/Documents/pathPlanning/proj3/build-pathPlanning-Desktop_Qt_5_12_0_clang_64bit-Debug + C:/pathPlanning/pathPlanning/build-pathPlanning-Desktop_Qt_5_3_MinGW_32bit-Debug true @@ -87,11 +84,10 @@ Сборка Qt4ProjectManager.MakeStep - + false - false 2 Сборка @@ -104,11 +100,10 @@ Сборка Qt4ProjectManager.MakeStep - + true clean - false 1 Очистка @@ -125,7 +120,7 @@ true - /Users/Igor/Documents/pathPlanning/proj3/build-pathPlanning-Desktop_Qt_5_12_0_clang_64bit-Release + C:/pathPlanning/pathPlanning/build-pathPlanning-Desktop_Qt_5_3_MinGW_32bit-Release true @@ -136,18 +131,17 @@ false false - true + false true Сборка Qt4ProjectManager.MakeStep - + false - false 2 Сборка @@ -160,11 +154,10 @@ Сборка Qt4ProjectManager.MakeStep - + true clean - false 1 Очистка @@ -181,7 +174,7 @@ true - /Users/Igor/Documents/pathPlanning/proj3/build-pathPlanning-Desktop_Qt_5_12_0_clang_64bit-Profile + C:/pathPlanning/pathPlanning/build-pathPlanning-Desktop_Qt_5_3_MinGW_32bit-Profile true @@ -192,18 +185,17 @@ false true - true + false true Сборка Qt4ProjectManager.MakeStep - + false - false 2 Сборка @@ -216,11 +208,10 @@ Сборка Qt4ProjectManager.MakeStep - + true clean - false 1 Очистка @@ -293,21 +284,19 @@ 2 - pathPlanning + + + + + Особая программа - Qt4ProjectManager.Qt4RunConfiguration:/Users/Igor/Documents/pathPlanning/proj3/astar_mac/pathPlanning.pro - pathPlanning.pro - + ProjectExplorer.CustomExecutableRunConfiguration 3768 false true - false - true false false true - - /Users/Igor/Documents/pathPlanning/proj3/build-pathPlanning-Desktop_Qt_5_12_0_clang_64bit-Debug 1 @@ -318,10 +307,10 @@ ProjectExplorer.Project.Updater.FileVersion - 20 + 18 Version - 20 + 18