public override void Clear()
{
ShortcutSet = null;
Source = null;
Targets = new JHashSet <TPoint2D>();
ShortcutSet = null;
}
public SPFInput(Trajectory2D Trajectory, IShortcutSet ShortcutSet, TPoint2D Source, JHashSet <TPoint2D> Targets, bool CreatePath = true)
{
this.Trajectory = Trajectory;
this.ShortcutSet = ShortcutSet;
this.Source = Source;
this.Targets = Targets;
this.CreatePath = CreatePath;
}
public Dictionary <TPoint2D, JHashSet <TPoint2D> > AsMap()
{
var map = new Dictionary <TPoint2D, JHashSet <TPoint2D> >();
foreach (var point in Trajectory)
{
map[point] = new JHashSet <TPoint2D>();
}
foreach (var shortcut in Shortcuts.Keys)
{
map[shortcut.Start].Add(shortcut.End);
}
return(map);
}
//O(n^2)
public Dictionary <TPoint2D, JHashSet <TPoint2D> > AsMap()
{
var map = new Dictionary <TPoint2D, JHashSet <TPoint2D> >();
foreach (var pair in IntervalMap)
{
var point = pair.Key;
var intervals = pair.Value;
var ends = new JHashSet <TPoint2D>();
foreach (var interval in intervals)
{
for (var i = interval.Start.Index; i <= interval.End.Index; i++)
{
ends.Add(Trajectory[i]);
}
}
map[point] = ends;
}
return(map);
}
public abstract Dictionary <TPoint2D, ShortcutPath> FindShortestPaths(IShortcutSet set, TPoint2D source, JHashSet <TPoint2D> targets, bool createPaths = true);
public override Dictionary <TPoint2D, ShortcutPath> FindShortestPaths(IShortcutSet set, TPoint2D source, JHashSet <TPoint2D> targets, bool createPaths = true)
{
var input = new SPFInput
{
Trajectory = set.Trajectory,
ShortcutSet = set,
Source = source,
Targets = targets,
CreatePath = createPaths
};
SPFOutput output;
algorithm.Compute(input, out output);
return(output.ShortcutPaths);
}
