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296 lines
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<a href="astar_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">// Copyright 2010-2021 Google LLC</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">// Licensed under the Apache License, Version 2.0 (the "License");</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">// you may not use this file except in compliance with the License.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment">// You may obtain a copy of the License at</span></div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">//</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">// http://www.apache.org/licenses/LICENSE-2.0</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">//</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">// Unless required by applicable law or agreed to in writing, software</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment">// distributed under the License is distributed on an "AS IS" BASIS,</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment">// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment">// See the License for the specific language governing permissions and</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment">// limitations under the License.</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> </div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="preprocessor">#include <memory></span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="preprocessor">#include <vector></span></div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> </div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="preprocessor">#include "absl/container/flat_hash_map.h"</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="preprocessor">#include "absl/container/flat_hash_set.h"</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="preprocessor">#include "<a class="code" href="adjustable__priority__queue_8h.html">ortools/base/adjustable_priority_queue.h</a>"</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="preprocessor">#include "<a class="code" href="integral__types_8h.html">ortools/base/integral_types.h</a>"</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> </div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceoperations__research.html">operations_research</a> {</div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="keyword">namespace </span>{</div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">// Priority queue element</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="keyword">class </span>Element {</div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> Element()</div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> : heap_index_(-1), distance_(0), distance_with_heuristic_(0), node_(-1) {}</div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> <span class="comment">// The distance_with_heuristic is used for the comparison</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <span class="comment">// in the priority queue</span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> <span class="keywordtype">bool</span> operator<(<span class="keyword">const</span> Element& other)<span class="keyword"> const </span>{</div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> <span class="keywordflow">return</span> distance_with_heuristic_ > other.distance_with_heuristic_;</div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> }</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> <span class="keywordtype">void</span> SetHeapIndex(<span class="keywordtype">int</span> h) { heap_index_ = h; }</div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> <span class="keywordtype">int</span> GetHeapIndex()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> heap_index_; }</div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <span class="keywordtype">void</span> set_distance(int64_t <a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>) { distance_ = <a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>; }</div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <span class="keywordtype">void</span> set_distance_with_heuristic(int64_t distance_with_heuristic) {</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> distance_with_heuristic_ = distance_with_heuristic;</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> }</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> int64_t distance_with_heuristic() { <span class="keywordflow">return</span> distance_with_heuristic_; }</div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> int64_t <a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> distance_; }</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keywordtype">void</span> set_node(<span class="keywordtype">int</span> node) { node_ = node; }</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">int</span> node()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> node_; }</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">private</span>:</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keywordtype">int</span> heap_index_;</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> int64_t distance_;</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> int64_t distance_with_heuristic_;</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">int</span> node_;</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span>};</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span>} <span class="comment">// namespace</span></div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classoperations__research_1_1_a_star_s_p.html"> 56</a></span><span class="keyword">class </span><a class="code hl_class" href="classoperations__research_1_1_a_star_s_p.html">AStarSP</a> {</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classoperations__research_1_1_a_star_s_p.html#a74044d8f5cd55ac73c7cbc37b2ed6c33"> 58</a></span> <span class="keyword">static</span> <span class="keyword">const</span> int64_t <a class="code hl_variable" href="classoperations__research_1_1_a_star_s_p.html#a74044d8f5cd55ac73c7cbc37b2ed6c33">kInfinity</a> = <a class="code hl_variable" href="integral__types_8h.html#a808bd435380aa1e2bbd6f13ac7759897">kint64max</a> / 2;</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classoperations__research_1_1_a_star_s_p.html#acfc92a648542e5b3c562ace938f7e0d3"> 60</a></span> <a class="code hl_function" href="classoperations__research_1_1_a_star_s_p.html#acfc92a648542e5b3c562ace938f7e0d3">AStarSP</a>(<span class="keywordtype">int</span> node_count, <span class="keywordtype">int</span> start_node, std::function<int64_t(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>)> graph,</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> std::function<int64_t(<span class="keywordtype">int</span>)> heuristic, int64_t disconnected_distance)</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> : node_count_(node_count),</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> start_node_(start_node),</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> graph_(<a class="code hl_namespace" href="namespacestd.html">std</a>::move(graph)),</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> heuristic_(<a class="code hl_namespace" href="namespacestd.html">std</a>::move(heuristic)),</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> disconnected_distance_(disconnected_distance),</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> predecessor_(new int[node_count]),</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> elements_(node_count) {}</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classoperations__research_1_1_a_star_s_p.html#a48b9f284876a7bfaa4d6841cac33554e">ShortestPath</a>(<span class="keywordtype">int</span> end_node, std::vector<int>* <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>);</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">private</span>:</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">void</span> Initialize();</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">int</span> SelectClosestNode(int64_t* <a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>);</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keywordtype">void</span> Update(<span class="keywordtype">int</span> label);</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordtype">void</span> FindPath(<span class="keywordtype">int</span> dest, std::vector<int>* <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>);</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">const</span> <span class="keywordtype">int</span> node_count_;</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">const</span> <span class="keywordtype">int</span> start_node_;</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> std::function<int64_t(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>)> graph_;</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> std::function<int64_t(<span class="keywordtype">int</span>)> heuristic_;</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">const</span> int64_t disconnected_distance_;</div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> std::unique_ptr<int[]> predecessor_;</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <a class="code hl_class" href="class_adjustable_priority_queue.html">AdjustablePriorityQueue<Element></a> frontier_;</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> std::vector<Element> elements_;</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> absl::flat_hash_set<int> not_visited_;</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> absl::flat_hash_set<int> added_to_the_frontier_;</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span>};</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span><span class="keywordtype">void</span> AStarSP::Initialize() {</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < node_count_; i++) {</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> elements_[i].set_node(i);</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordflow">if</span> (i == start_node_) {</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> predecessor_[i] = -1;</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> elements_[i].set_distance(0);</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> elements_[i].set_distance_with_heuristic(heuristic_(i));</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> frontier_.Add(&elements_[i]);</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> } <span class="keywordflow">else</span> {</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> elements_[i].set_distance(<a class="code hl_variable" href="classoperations__research_1_1_a_star_s_p.html#a74044d8f5cd55ac73c7cbc37b2ed6c33">kInfinity</a>);</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> elements_[i].set_distance_with_heuristic(<a class="code hl_variable" href="classoperations__research_1_1_a_star_s_p.html#a74044d8f5cd55ac73c7cbc37b2ed6c33">kInfinity</a>);</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> predecessor_[i] = start_node_;</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> not_visited_.insert(i);</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> }</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> }</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span>}</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span><span class="keywordtype">int</span> AStarSP::SelectClosestNode(int64_t* <a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>) {</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">const</span> <span class="keywordtype">int</span> node = frontier_.Top()->node();</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> *<a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a> = frontier_.Top()->distance();</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> frontier_.Pop();</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> not_visited_.erase(node);</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> added_to_the_frontier_.erase(node);</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordflow">return</span> node;</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span>}</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span><span class="keywordtype">void</span> AStarSP::Update(<span class="keywordtype">int</span> node) {</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">for</span> (absl::flat_hash_set<int>::const_iterator it = not_visited_.begin();</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> it != not_visited_.end(); ++it) {</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">const</span> <span class="keywordtype">int</span> other_node = *it;</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keyword">const</span> int64_t graph_node_i = graph_(node, other_node);</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordflow">if</span> (graph_node_i != disconnected_distance_) {</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordflow">if</span> (added_to_the_frontier_.find(other_node) ==</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> added_to_the_frontier_.end()) {</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> frontier_.Add(&elements_[other_node]);</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> added_to_the_frontier_.insert(other_node);</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> }</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">const</span> int64_t other_distance = elements_[node].distance() + graph_node_i;</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordflow">if</span> (elements_[other_node].<a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>() > other_distance) {</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> elements_[other_node].set_distance(other_distance);</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> elements_[other_node].set_distance_with_heuristic(</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> other_distance + heuristic_(other_node));</div>
|
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> frontier_.NoteChangedPriority(&elements_[other_node]);</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> predecessor_[other_node] = node;</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> }</div>
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<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> }</div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> }</div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span>}</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span><span class="keywordtype">void</span> AStarSP::FindPath(<span class="keywordtype">int</span> dest, std::vector<int>* <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>) {</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">int</span> j = dest;</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>->push_back(j);</div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordflow">while</span> (predecessor_[j] != -1) {</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>->push_back(predecessor_[j]);</div>
|
|
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> j = predecessor_[j];</div>
|
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> }</div>
|
|
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span>}</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
|
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classoperations__research_1_1_a_star_s_p.html#a48b9f284876a7bfaa4d6841cac33554e"> 148</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classoperations__research_1_1_a_star_s_p.html#a48b9f284876a7bfaa4d6841cac33554e">AStarSP::ShortestPath</a>(<span class="keywordtype">int</span> end_node, std::vector<int>* <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>) {</div>
|
|
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> Initialize();</div>
|
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">bool</span> found = <span class="keyword">false</span>;</div>
|
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordflow">while</span> (!frontier_.IsEmpty()) {</div>
|
|
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> int64_t <a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>;</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">int</span> node = SelectClosestNode(&<a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a>);</div>
|
|
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a> == <a class="code hl_variable" href="classoperations__research_1_1_a_star_s_p.html#a74044d8f5cd55ac73c7cbc37b2ed6c33">kInfinity</a>) {</div>
|
|
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> found = <span class="keyword">false</span>;</div>
|
|
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordflow">break</span>;</div>
|
|
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (node == end_node) {</div>
|
|
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> found = <span class="keyword">true</span>;</div>
|
|
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordflow">break</span>;</div>
|
|
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> }</div>
|
|
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> Update(node);</div>
|
|
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> }</div>
|
|
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordflow">if</span> (found) {</div>
|
|
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> FindPath(end_node, <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>);</div>
|
|
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> }</div>
|
|
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordflow">return</span> found;</div>
|
|
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span>}</div>
|
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="namespaceoperations__research.html#a40d226c5f5c250cf81ae0845a8afeb89"> 169</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="namespaceoperations__research.html#a40d226c5f5c250cf81ae0845a8afeb89">AStarShortestPath</a>(<span class="keywordtype">int</span> node_count, <span class="keywordtype">int</span> start_node, <span class="keywordtype">int</span> end_node,</div>
|
|
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> std::function<int64_t(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>)> graph,</div>
|
|
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> std::function<int64_t(<span class="keywordtype">int</span>)> heuristic,</div>
|
|
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> int64_t disconnected_distance, std::vector<int>* <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>) {</div>
|
|
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <a class="code hl_class" href="classoperations__research_1_1_a_star_s_p.html">AStarSP</a> bf(node_count, start_node, std::move(graph), std::move(heuristic),</div>
|
|
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> disconnected_distance);</div>
|
|
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordflow">return</span> bf.<a class="code hl_function" href="classoperations__research_1_1_a_star_s_p.html#a48b9f284876a7bfaa4d6841cac33554e">ShortestPath</a>(end_node, <a class="code hl_variable" href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a>);</div>
|
|
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span>}</div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span>} <span class="comment">// namespace operations_research</span></div>
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<div class="ttc" id="aadjustable__priority__queue_8h_html"><div class="ttname"><a href="adjustable__priority__queue_8h.html">adjustable_priority_queue.h</a></div></div>
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<div class="ttc" id="aclass_adjustable_priority_queue_html"><div class="ttname"><a href="class_adjustable_priority_queue.html">AdjustablePriorityQueue</a></div><div class="ttdef"><b>Definition:</b> <a href="adjustable__priority__queue_8h_source.html#l00038">adjustable_priority_queue.h:38</a></div></div>
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<div class="ttc" id="aclassoperations__research_1_1_a_star_s_p_html"><div class="ttname"><a href="classoperations__research_1_1_a_star_s_p.html">operations_research::AStarSP</a></div><div class="ttdef"><b>Definition:</b> <a href="astar_8cc_source.html#l00056">astar.cc:56</a></div></div>
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<div class="ttc" id="aclassoperations__research_1_1_a_star_s_p_html_a48b9f284876a7bfaa4d6841cac33554e"><div class="ttname"><a href="classoperations__research_1_1_a_star_s_p.html#a48b9f284876a7bfaa4d6841cac33554e">operations_research::AStarSP::ShortestPath</a></div><div class="ttdeci">bool ShortestPath(int end_node, std::vector< int > *nodes)</div><div class="ttdef"><b>Definition:</b> <a href="astar_8cc_source.html#l00148">astar.cc:148</a></div></div>
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<div class="ttc" id="aclassoperations__research_1_1_a_star_s_p_html_a74044d8f5cd55ac73c7cbc37b2ed6c33"><div class="ttname"><a href="classoperations__research_1_1_a_star_s_p.html#a74044d8f5cd55ac73c7cbc37b2ed6c33">operations_research::AStarSP::kInfinity</a></div><div class="ttdeci">static const int64_t kInfinity</div><div class="ttdef"><b>Definition:</b> <a href="astar_8cc_source.html#l00058">astar.cc:58</a></div></div>
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<div class="ttc" id="aclassoperations__research_1_1_a_star_s_p_html_acfc92a648542e5b3c562ace938f7e0d3"><div class="ttname"><a href="classoperations__research_1_1_a_star_s_p.html#acfc92a648542e5b3c562ace938f7e0d3">operations_research::AStarSP::AStarSP</a></div><div class="ttdeci">AStarSP(int node_count, int start_node, std::function< int64_t(int, int)> graph, std::function< int64_t(int)> heuristic, int64_t disconnected_distance)</div><div class="ttdef"><b>Definition:</b> <a href="astar_8cc_source.html#l00060">astar.cc:60</a></div></div>
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<div class="ttc" id="aintegral__types_8h_html"><div class="ttname"><a href="integral__types_8h.html">integral_types.h</a></div></div>
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<div class="ttc" id="aintegral__types_8h_html_a808bd435380aa1e2bbd6f13ac7759897"><div class="ttname"><a href="integral__types_8h.html#a808bd435380aa1e2bbd6f13ac7759897">kint64max</a></div><div class="ttdeci">static const int64_t kint64max</div><div class="ttdef"><b>Definition:</b> <a href="integral__types_8h_source.html#l00032">integral_types.h:32</a></div></div>
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<div class="ttc" id="anamespaceoperations__research_html"><div class="ttname"><a href="namespaceoperations__research.html">operations_research</a></div><div class="ttdoc">Collection of objects used to extend the Constraint Solver library.</div><div class="ttdef"><b>Definition:</b> <a href="dense__doubly__linked__list_8h_source.html#l00021">dense_doubly_linked_list.h:21</a></div></div>
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<div class="ttc" id="anamespaceoperations__research_html_a40d226c5f5c250cf81ae0845a8afeb89"><div class="ttname"><a href="namespaceoperations__research.html#a40d226c5f5c250cf81ae0845a8afeb89">operations_research::AStarShortestPath</a></div><div class="ttdeci">bool AStarShortestPath(int node_count, int start_node, int end_node, std::function< int64_t(int, int)> graph, std::function< int64_t(int)> heuristic, int64_t disconnected_distance, std::vector< int > *nodes)</div><div class="ttdef"><b>Definition:</b> <a href="astar_8cc_source.html#l00169">astar.cc:169</a></div></div>
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<div class="ttc" id="anamespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div><div class="ttdoc">STL namespace.</div></div>
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<div class="ttc" id="arouting__search_8cc_html_a6b7983ccd32c86cbbc3d4d9cda4cac17"><div class="ttname"><a href="routing__search_8cc.html#a6b7983ccd32c86cbbc3d4d9cda4cac17">nodes</a></div><div class="ttdeci">int nodes</div><div class="ttdef"><b>Definition:</b> <a href="routing__search_8cc_source.html#l03866">routing_search.cc:3866</a></div></div>
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<div class="ttc" id="arouting__search_8cc_html_a79b8e036dca6911e3295a47d99f21f43"><div class="ttname"><a href="routing__search_8cc.html#a79b8e036dca6911e3295a47d99f21f43">distance</a></div><div class="ttdeci">double distance</div><div class="ttdef"><b>Definition:</b> <a href="routing__search_8cc_source.html#l03610">routing_search.cc:3610</a></div></div>
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