private void RestoreNodeBackup(HierarchicalMap map, Id <AbstractNode> nodeId)
{
var abstractGraph = map.AbstractGraph;
var nodeBackup = nodeBackups[nodeId];
var nodeInfo = abstractGraph.GetNodeInfo(nodeId);
nodeInfo.Level = nodeBackup.Level;
abstractGraph.RemoveEdgesFromAndToNode(nodeId);
abstractGraph.AddNode(nodeId, nodeInfo);
foreach (var edge in nodeBackup.Edges)
{
var targetNodeId = edge.TargetNodeId;
map.AddEdge(nodeId, targetNodeId, edge.Info.Cost,
edge.Info.Level, edge.Info.IsInterClusterEdge,
edge.Info.InnerLowerLevelPath != null ? new List <Id <AbstractNode> >(edge.Info.InnerLowerLevelPath) : null);
edge.Info.InnerLowerLevelPath?.Reverse();
map.AddEdge(targetNodeId, nodeId, edge.Info.Cost,
edge.Info.Level, edge.Info.IsInterClusterEdge, edge.Info.InnerLowerLevelPath);
}
nodeBackups.Remove(nodeId);
}
public void RemoveAbstractNode(HierarchicalMap map, Id <AbstractNode> nodeId, int stal)
{
var abstractGraph = map.AbstractGraph;
if (m_stalUsed[stal])
{
// The node was an existing entrance point in the graph. Restore it with
// the information we kept when inserting
var nodeInfo = abstractGraph.GetNodeInfo(nodeId);
nodeInfo.Level = m_stalLevel[stal];
abstractGraph.RemoveEdgesFromAndToNode(nodeId);
abstractGraph.AddNode(nodeId, nodeInfo);
foreach (var edge in m_stalEdges[stal])
{
var targetNodeId = edge.TargetNodeId;
map.AddEdge(nodeId, targetNodeId, edge.Info.Cost,
edge.Info.Level, edge.Info.IsInterClusterEdge);
map.AddEdge(targetNodeId, nodeId, edge.Info.Cost,
edge.Info.Level, edge.Info.IsInterClusterEdge);
}
}
else
{
// Just delete the node from the graph
var currentNodeInfo = abstractGraph.GetNodeInfo(nodeId);
var clusterId = currentNodeInfo.ClusterId;
var cluster = map.Clusters[clusterId.IdValue];
cluster.RemoveLastEntranceRecord();
map.ConcreteNodeIdToAbstractNodeIdMap.Remove(currentNodeInfo.ConcreteNodeId);
abstractGraph.RemoveEdgesFromAndToNode(nodeId);
abstractGraph.RemoveLastNode();
}
}
// insert a new node, such as start or target, to the abstract graph and
// returns the id of the newly created node in the abstract graph
// x and y are the positions where I want to put the node
private Id <AbstractNode> InsertNodeIntoHierarchicalMap(HierarchicalMap map, Id <ConcreteNode> concreteNodeId, Position pos)
{
// If the node already existed (for instance, it was the an entrance point already
// existing in the graph, we need to keep track of the previous status in order
// to be able to restore it once we delete this STAL
if (map.ConcreteNodeIdToAbstractNodeIdMap.ContainsKey(concreteNodeId))
{
var existingAbstractNodeId = map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId];
var nodeBackup = new NodeBackup(
map.AbstractGraph.GetNodeInfo(existingAbstractNodeId).Level,
map.GetNodeEdges(concreteNodeId));
nodeBackups[existingAbstractNodeId] = nodeBackup;
return(map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId]);
}
var cluster = map.FindClusterForPosition(pos);
// create global entrance
var abstractNodeId = Id <AbstractNode> .From(map.NrNodes);
var entrance = cluster.AddEntrance(abstractNodeId, new Position(pos.X - cluster.Origin.X, pos.Y - cluster.Origin.Y));
cluster.UpdatePathsForLocalEntrance(entrance);
map.ConcreteNodeIdToAbstractNodeIdMap[concreteNodeId] = abstractNodeId;
var info = new AbstractNodeInfo(
abstractNodeId,
1,
cluster.Id,
pos,
concreteNodeId);
map.AbstractGraph.AddNode(abstractNodeId, info);
foreach (var entrancePoint in cluster.EntrancePoints)
{
if (cluster.AreConnected(abstractNodeId, entrancePoint.AbstractNodeId))
{
map.AddEdge(
entrancePoint.AbstractNodeId,
abstractNodeId,
cluster.GetDistance(entrancePoint.AbstractNodeId, abstractNodeId));
map.AddEdge(
abstractNodeId,
entrancePoint.AbstractNodeId,
cluster.GetDistance(abstractNodeId, entrancePoint.AbstractNodeId));
}
}
return(abstractNodeId);
}
