// Method to convert DistPoint to Protocal Buffer version of DistPoint
private static ProtoBuffer.PathPlanningRequest.Types.DistPoint DistPointToPBDistPoint(DistPoint p)
{
ProtoBuffer.PathPlanningRequest.Types.DistPoint.Builder newPBuilder = ProtoBuffer.PathPlanningRequest.Types.DistPoint.CreateBuilder();
newPBuilder.SetRow(p.row)
.SetColumn(p.column);
ProtoBuffer.PathPlanningRequest.Types.DistPoint newP = newPBuilder.Build();
newPBuilder = null;
return newP;
}
// See if a point is in the current path mode section
private bool PointInPath(DistPoint C_p)
{
bool blnInPath = false;
foreach (DistPoint p in lstCurPath)
{
if (p.row == C_p.row && p.column == C_p.column)
{
blnInPath = true;
break;
}
}
return blnInPath;
}
// LHC Algorithm to identify modes
private void LocalHillClimbing(int C_i, int C_j)
{
// A new path now
pathCount++;
#region FindMode
// Climb
bool blnMode = false;
while (!blnMode)
{
// Mark self as visited
mVisited[C_i, C_j] = 1;
// Label cell with current path count
mPaths[C_i, C_j] = pathCount;
// Loop through all unvisited neighbors to see if there's someone same or better
bool blnMoved = false;
for (int i = C_i - 1; i < C_i + 2; i++)
{
if (i < 0 || i > max_r)
{
// No neighber in that direction
}
else
{
for (int j = C_j - 1; j < C_j + 2; j++)
{
if (j < 0 || j > max_c // No neighber in that direction
|| (i == C_i && j == C_j) // Don't compare against self
|| mVisited[i, j] == 1) // Don't worry about visited cell
{
// No valid neighbor in this direction.
}
else
{
// There is an unvisited neightbor
// If same or better, move to it.
if (mSmallerMap[C_i, C_j] <= mSmallerMap[i, j])
{
if (mSmallerMap[C_i, C_j] == mSmallerMap[i, j])
{
// If same, then remember it
DistPoint p = new DistPoint();
p.row = C_i;
p.column = C_j;
lstCurPath.Add(p);
}
else
{
// If next point is better, clear the list
lstCurPath.Clear();
}
// Move to this neighbor
blnMoved = true;
C_i = i;
C_j = j;
// Make sure I am done with this round
i = C_i + 2;
j = C_j + 2;
}
}
}
}
}
if (!blnMoved)
{
// No better neighbor, so I am the mode.
blnMode = true;
}
}
#endregion
#region ValidateMode
// Mark self as visited
mVisited[C_i, C_j] = 1;
// Label cell with current path count
mPaths[C_i, C_j] = pathCount;
// Add self to path (mode section)
DistPoint C_p = new DistPoint();
C_p.row = C_i;
C_p.column = C_j;
lstCurPath.Add(C_p);
//// Debug
//Console.Write("\n");
//Console.Write("mModes:\n");
//for (int i = 0; i < mModes.Rows; i++)
//{
// for (int j = 0; j < mModes.Columns; j++)
// {
// Console.Write(mModes[i, j].ToString() + " ");
// }
// Console.Write("\n");
//}
//Console.Write("Paths:\n");
//for (int i = 0; i < mPaths.Rows; i++)
//{
// for (int j = 0; j < mPaths.Columns; j++)
// {
// Console.Write(mPaths[i, j].ToString() + " ");
// }
// Console.Write("\n");
//}
// Now let's see if this is really a mode
bool blnRealMode = true;
// Make sure I am really the mode by checking all visited neighbors along the path (mode section)
float otherMode = -1;
foreach (DistPoint p in lstCurPath)
{
if (!blnRealMode)
{
// As soon as we find a connected mode, stop the loop.
break;
}
for (int i = p.row - 1; i < p.row + 2; i++)
{
if (i < 0 || i > max_r)
{
// No neighber in that direction
}
else
{
for (int j = p.column - 1; j < p.column + 2; j++)
{
DistPoint pp = new DistPoint();
pp.row = i;
pp.column = j;
if (j < 0 || j > max_c // No neighber in that direction
|| (i == p.row && j == p.column) // Don't compare against self
|| PointInPath(pp) // Don't check this path because it doesn't have mode label yet.
|| mVisited[i, j] == 0) // Only check visited nodes
{
// No valid neighbor
}
else
{
if (mSmallerMap[p.row, p.column] <= mSmallerMap[i, j])
{
// I am not a real mode
blnRealMode = false;
if (mSmallerMap[p.row, p.column] == mSmallerMap[i, j]
&& mModes[i, j] >= 0)
{
// I am part of another mode
otherMode = mModes[i, j];
}
// Make sure I am done.
i = p.row + 2;
j = p.column + 2;
}
}
}
}
}
}
if (blnRealMode)
{
Count++;
}
#endregion
// Connected-Component-Labeling
if (blnRealMode)
{
// If I am the real mode, then mark all past cells on path with same height the new modeCount value.
foreach (DistPoint p in lstCurPath)
{
mModes[p.row, p.column] = Count;
}
}
else
{
if (otherMode > 0)
{
foreach (DistPoint p in lstCurPath)
{
mModes[p.row, p.column] = otherMode;
}
}
}
// Clear list
lstCurPath.Clear();
}