public override void Clear()
{
ShortcutSet = null;
Source = null;
Targets = new JHashSet <TPoint2D>();
ShortcutSet = null;
}
public override IShortcutSet GetShortcuts(int level, double epsilon)
{
var input = new MSSInput(Input.Trajectory, new List <double> {
epsilon
})
{
PrunedPoints = prunedPoints,
SearchIntervals = searchIntervals
};
MSSOutput output;
Algorithm.Compute(input, out output);
var shortcuts = output.GetShortcuts(1);
if (Cumulative)
{
if (prunedShortcuts != null)
{
shortcuts.Except(prunedShortcuts);
prunedShortcuts.Union(shortcuts);
}
else
{
prunedShortcuts = shortcuts;
}
}
//Output.LogLine(output.LogString);
Output.LogObject("Number of shortcuts found on level " + level, shortcuts.Count);
return(shortcuts);
}
public override void Init(MSInput input, MSOutput output, bool cumulative)
{
base.Init(input, output, cumulative);
prunedShortcuts = null;
searchIntervals = null;
prunedPoints = new HashSet <TPoint2D>();
}
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 void Except(IShortcutSet set)
{
var graph = (ShortcutGraph)set;
foreach (var shortcut in graph.Shortcuts.Keys)
{
RemoveShortcut(shortcut);
}
}
public void Union(IShortcutSet set)
{
var graph = (ShortcutGraph)set;
foreach (var pair in graph.Shortcuts)
{
var weightedEdge = (WeightedEdge)pair.Value;
AddShortcut(pair.Key, weightedEdge.Data);
}
}
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);
}
public override ShortcutPath FindShortestPath(IShortcutSet set, TPoint2D source, TPoint2D target, bool createPath = true)
{
var input = new SPFInput
{
Trajectory = set.Trajectory,
ShortcutSet = set,
Source = source,
Targets = new JHashSet <TPoint2D> {
target
},
CreatePath = createPath
};
SPFOutput output;
algorithm.Compute(input, out output);
return(output.GetPath(target));
}
public void Intersect(IShortcutSet set)
{
var graph = (ShortcutGraph)set;
var shortcutsToRemove = new HashSet <Shortcut>();
foreach (var shortcut in Shortcuts.Keys)
{
if (!graph.Shortcuts.ContainsKey(shortcut))
{
shortcutsToRemove.Add(shortcut);
}
}
foreach (var shortcut in shortcutsToRemove)
{
RemoveShortcut(shortcut, false);
}
}
public abstract Dictionary <TPoint2D, ShortcutPath> FindShortestPaths(IShortcutSet set, TPoint2D source, JHashSet <TPoint2D> targets, bool createPaths = true);
public abstract ShortcutPath FindShortestPath(IShortcutSet set, TPoint2D source, TPoint2D target, bool createPath = true);
//worst case O(n^2), expected O(n)
public void Except(IShortcutSet set)
{
var otherIntervalMap = ((ShortcutIntervalSet)set).IntervalMap;
foreach (var start in otherIntervalMap.Keys)
{
if (!IntervalMap.ContainsKey(start))
{
continue;
}
var intervals = IntervalMap[start];
var otherIntervals = otherIntervalMap[start];
var intervalsNode = intervals.First;
var otherNode = otherIntervals.First;
//worst case O(n), expected O(1)
while (intervalsNode != null)
{
var interval = intervalsNode.Value;
if (otherNode == null)
{
break;
}
var otherInterval = otherNode.Value;
//other interval too far back, consider next one for overlap
if (otherInterval.End.Index < interval.Start.Index)
{
otherNode = otherNode.Next;
continue;
}
//interval too far back, consider next one for overlap
if (otherInterval.Start.Index > interval.End.Index)
{
intervalsNode = intervalsNode.Next;
continue;
}
//it overlaps at the start: prune interval start
if (otherInterval.End.Index < interval.End.Index && otherInterval.Start.Index <= interval.Start.Index)
{
interval.Start = Trajectory[otherInterval.End.Index + 1];
otherNode = otherNode.Next;
continue;
}
//it overlaps at the end: prune interval end
if (otherInterval.Start.Index > interval.Start.Index && otherInterval.End.Index >= interval.End.Index)
{
interval.End = Trajectory[otherInterval.Start.Index - 1];
intervalsNode = intervalsNode.Next;
continue;
}
//spanning other interval
if (otherInterval.Start.Index > interval.Start.Index && otherInterval.End.Index < interval.End.Index)
{
//second part
intervalsNode = intervals.AddAfter(intervalsNode, new Interval(Trajectory[otherInterval.End.Index + 1], interval.End));
//first part
interval.End = Trajectory[otherInterval.Start.Index - 1];
otherNode = otherNode.Next;
continue;
}
//full overlap
var nextNode = intervalsNode.Next;
intervals.Remove(intervalsNode);
intervalsNode = nextNode;
}
}
}
//worst case O(n^2), expected O(n)
public void Union(IShortcutSet set)
{
var otherIntervalMap = ((ShortcutIntervalSet)set).IntervalMap;
foreach (var start in otherIntervalMap.Keys)
{
if (!IntervalMap.ContainsKey(start))
{
continue;
}
var intervals = IntervalMap[start];
var otherIntervals = otherIntervalMap[start];
var intervalsNode = intervals.First;
var otherNode = otherIntervals.First;
while (otherNode != null)
{
if (intervalsNode == null)
{
intervals.AddLast(otherNode.Value.Clone());
otherNode = otherNode.Next;
continue;
}
var interval = intervalsNode.Value;
var otherInterval = otherNode.Value;
//not yet reached
if (otherInterval.Start.Index > interval.End.Index + 1)
{
intervalsNode = intervalsNode.Next;
continue;
}
//we passed it: simply add the interval
if (otherInterval.End.Index < interval.Start.Index - 1)
{
intervals.AddBefore(intervalsNode, new Interval(otherInterval.Start, otherInterval.End));
otherNode = otherNode.Next;
continue;
}
//it connects at the start: extend interval backwards
if (otherInterval.End.Index >= interval.Start.Index - 1)
{
interval.Start = otherInterval.Start;
}
//it connects at the end: extend interval forward
if (otherInterval.Start.Index <= interval.End.Index + 1)
{
interval.End = otherInterval.End;
var tempNode = intervalsNode.Next;
while (tempNode != null)
{
var nextNode = tempNode.Next;
var furtherInterval = tempNode.Value;
//remove any fully overlapped intervals
if (furtherInterval.End.Index <= interval.End.Index)
{
intervals.Remove(tempNode);
tempNode = nextNode;
continue;
}
//merge any interval that may connect at the end
if (furtherInterval.Start.Index <= interval.End.Index + 1)
{
intervals.Remove(tempNode);
interval.End = furtherInterval.End;
}
break;
}
}
otherNode = otherNode.Next;
}
}
}
//worst case O(n^2), expected O(n)
public void Intersect(IShortcutSet set)
{
var otherIntervalMap = ((ShortcutIntervalSet)set).IntervalMap;
foreach (var start in otherIntervalMap.Keys)
{
if (!IntervalMap.ContainsKey(start))
{
continue;
}
var intervals = IntervalMap[start];
var otherIntervals = otherIntervalMap[start];
var intervalsNode = intervals.First;
var otherNode = otherIntervals.First;
//worst case O(n), expected O(1)
while (intervalsNode != null)
{
var nextNode = intervalsNode.Next;
var interval = intervalsNode.Value;
if (otherNode == null)
{
intervals.Remove(intervalsNode);
}
else
{
var otherInterval = otherNode.Value;
//other interval too far back, consider next one for overlap
if (otherInterval.End.Index < interval.Start.Index)
{
otherNode = otherNode.Next;
continue;
}
//other interval too far ahead
if (otherInterval.Start.Index > interval.End.Index)
{
intervals.Remove(intervalsNode);
}
else //some overlap
{
var nextOtherInterval = otherNode.Next?.Value;
var nextOverlaps = false;
if (nextOtherInterval != null)
{
nextOverlaps = nextOtherInterval.Start.Index <= interval.End.Index;
}
if (nextOverlaps) //split interval
{
var newInterval = new Interval(interval.Start, interval.End);
//it connects at the start: prune interval end
if (otherInterval.End.Index < interval.End.Index)
{
newInterval.End = otherInterval.End;
}
//it connects at the end: prune interval start
if (otherInterval.Start.Index > interval.Start.Index)
{
newInterval.Start = otherInterval.Start;
}
intervals.AddBefore(intervalsNode, newInterval);
otherNode = otherNode.Next;
continue;
}
//it connects at the start: prune interval end
if (otherInterval.End.Index < interval.End.Index)
{
interval.End = otherInterval.End;
}
//it connects at the end: prune interval start
if (otherInterval.Start.Index > interval.Start.Index)
{
interval.Start = otherInterval.Start;
}
}
}
intervalsNode = nextNode;
}
}
}
protected override Dictionary <Shortcut, int> GetShortcutWeights(ShortcutGraph graph, IShortcutSet levelShortcuts)
{
var weights = new Dictionary <Shortcut, int>();
foreach (var shortcut in levelShortcuts)
{
var path = ShortestPathProvider.FindShortestPath(graph, shortcut.Start, shortcut.End);
weights[shortcut] = path.Weight;
}
return(weights);
}
protected override Dictionary <Shortcut, int> GetShortcutWeights(ShortcutGraph graph, IShortcutSet levelShortcuts)
{
var levelMap = levelShortcuts.AsMap();
var weights = new Dictionary <Shortcut, int>();
foreach (var pair in levelMap)
{
var start = pair.Key;
var ends = pair.Value;
var paths = ShortestPathProvider.FindShortestPaths(graph, start, ends, false);
foreach (var end in ends)
{
weights[new Shortcut(start, end)] = paths[end].Weight;
}
}
return(weights);
}
protected abstract Dictionary <Shortcut, int> GetShortcutWeights(ShortcutGraph graph, IShortcutSet levelShortcuts);
