133 lines
3.8 KiB
C++
133 lines
3.8 KiB
C++
/* $Id$ */
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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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/** 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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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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/** 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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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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}
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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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{
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Titem_& item = m_open.Pop(key);
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if (&item != NULL) {
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int idxPop = m_open_queue.FindLinear(item);
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m_open_queue.RemoveByIdx(idxPop);
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}
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return item;
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}
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/** close node */
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FORCEINLINE void InsertClosedNode(Titem_& item)
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{
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assert(&m_open.Find(item.GetKey()) == NULL);
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m_closed.Push(item);
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}
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/** return the closed node specified by a key or NULL if not found */
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FORCEINLINE Titem_& FindClosedNode(const Key& key)
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{
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Titem_& item = m_closed.Find(key);
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return item;
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}
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FORCEINLINE int TotalCount() {return m_arr.Size();}
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FORCEINLINE Titem_& ItemAt(int idx) {return m_arr[idx];}
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};
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#endif /* NODELIST_HPP */
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