author | KUDr |
Mon, 29 May 2006 15:04:42 +0000 | |
changeset 3912 | 08c70885ec45 |
parent 3900 | 2c84ed52709d |
child 4549 | 106ed18a7675 |
permissions | -rw-r--r-- |
3900
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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/* $Id$ */ |
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#ifndef NODELIST_HPP |
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#define NODELIST_HPP |
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#include "array.hpp" |
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#include "hashtable.hpp" |
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#include "binaryheap.hpp" |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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/** Hash table based node list multi-container class. |
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Implements open list, closed list and priority queue for A-star |
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path finder. */ |
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template <class Titem_, int Thash_bits_open_, int Thash_bits_closed_> |
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class CNodeList_HashTableT { |
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public: |
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/** make Titem_ visible from outside of class */ |
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typedef Titem_ Titem; |
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/** make Titem_::Key a property of HashTable */ |
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typedef typename Titem_::Key Key; |
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/** type that we will use as item container */ |
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typedef CArrayT<Titem_, 65536, 256> CItemArray; |
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/** how pointers to open nodes will be stored */ |
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typedef CHashTableT<Titem_, Thash_bits_open_ > COpenList; |
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/** how pointers to closed nodes will be stored */ |
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typedef CHashTableT<Titem_, Thash_bits_closed_> CClosedList; |
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/** how the priority queue will be managed */ |
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typedef CBinaryHeapT<Titem_> CPriorityQueue; |
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protected: |
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/** here we store full item data (Titem_) */ |
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CItemArray m_arr; |
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/** hash table of pointers to open item data */ |
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COpenList m_open; |
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/** hash table of pointers to closed item data */ |
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CClosedList m_closed; |
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/** priority queue of pointers to open item data */ |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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CPriorityQueue m_open_queue; |
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/** new open node under construction */ |
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Titem *m_new_node; |
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public: |
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/** default constructor */ |
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CNodeList_HashTableT() |
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: m_open_queue(204800) |
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{ |
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m_new_node = NULL; |
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} |
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/** destructor */ |
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~CNodeList_HashTableT() |
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{ |
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} |
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/** return number of open nodes */ |
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FORCEINLINE int OpenCount() {return m_open.Count();} |
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/** return number of closed nodes */ |
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FORCEINLINE int ClosedCount() {return m_closed.Count();} |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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/** allocate new data item from m_arr */ |
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FORCEINLINE Titem_* CreateNewNode() |
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{ |
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if (m_new_node == NULL) m_new_node = &m_arr.Add(); |
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return m_new_node; |
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} |
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/** notify the nodelist, that we don't want to discard the given node */ |
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FORCEINLINE void FoundBestNode(Titem_& item) |
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{ |
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// for now it is enough to invalidate m_new_node if it is our given node |
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if (&item == m_new_node) |
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m_new_node = NULL; |
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// TODO: do we need to store best nodes found in some extra list/array? Probably not now. |
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} |
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/** insert given item as open node (into m_open and m_open_queue) */ |
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FORCEINLINE void InsertOpenNode(Titem_& item) |
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{ |
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assert(&m_closed.Find(item.GetKey()) == NULL); |
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m_open.Push(item); |
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// TODO: check if m_open_queue is not full |
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assert(!m_open_queue.IsFull()); |
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m_open_queue.Push(item); |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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if (&item == m_new_node) |
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m_new_node = NULL; |
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} |
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/** return the best open node */ |
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FORCEINLINE Titem_& GetBestOpenNode() |
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{ |
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if (!m_open_queue.IsEmpty()) { |
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Titem_& item = m_open_queue.GetHead(); |
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return item; |
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} |
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return *(Titem_*)NULL; |
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} |
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/** remove and return the best open node */ |
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FORCEINLINE Titem_& PopBestOpenNode() |
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{ |
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if (!m_open_queue.IsEmpty()) { |
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Titem_& item = m_open_queue.PopHead(); |
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m_open.Pop(item); |
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return item; |
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} |
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return *(Titem_*)NULL; |
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} |
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/** return the open node specified by a key or NULL if not found */ |
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FORCEINLINE Titem_& FindOpenNode(const Key& key) |
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{ |
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Titem_& item = m_open.Find(key); |
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return item; |
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104 |
} |
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/** remove and return the open node specified by a key */ |
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FORCEINLINE Titem_& PopOpenNode(const Key& key) |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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{ |
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108 |
Titem_& item = m_open.Pop(key); |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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109 |
if (&item != NULL) { |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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110 |
int idxPop = m_open_queue.FindLinear(item); |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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111 |
m_open_queue.RemoveByIdx(idxPop); |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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112 |
} |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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113 |
return item; |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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114 |
} |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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115 |
/** close node */ |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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116 |
FORCEINLINE void InsertClosedNode(Titem_& item) |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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117 |
{ |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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118 |
assert(&m_open.Find(item.GetKey()) == NULL); |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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parents:
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119 |
m_closed.Push(item); |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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120 |
} |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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121 |
/** return the closed node specified by a key or NULL if not found */ |
2c84ed52709d
(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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122 |
FORCEINLINE Titem_& FindClosedNode(const Key& key) |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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123 |
{ |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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124 |
Titem_& item = m_closed.Find(key); |
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(svn r4987) Feature: Merged YAPF into trunk. Thanks to devs for continuous support and users for testing.
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125 |
return item; |
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126 |
} |
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127 |
|
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128 |
FORCEINLINE int TotalCount() {return m_arr.Size();} |
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129 |
FORCEINLINE Titem_& ItemAt(int idx) {return m_arr[idx];} |
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130 |
}; |
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131 |
|
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132 |
#endif /* NODELIST_HPP */ |