node_grid_path_finder.h

#pragma once
 
#include <set>
#include "path_node.h"
#include "scene.h"
#include "grid_path_finder.h"
 
 
namespace bmpf {
    class NodeGridPathFinder : public GridPathFinder {
    public:
        static const int ERROR_REACHED_MAX_NODE_CNT = 4;
 
        NodeGridPathFinder(const std::shared_ptr<bmpf::Scene> &scene,
                           bool showTrace,
                           int gridSize,
                           unsigned int maxNodeCnt,
                           unsigned int kG = 1,
                           unsigned int kD = 0,
                           int threadCnt = 1
        ) : GridPathFinder(scene, showTrace, gridSize, threadCnt),
            _maxNodeCnt(maxNodeCnt), _kG(kG), _kD(kD) {}
 
        std::vector<std::vector<double>> getAllProcessedStates();
 
        bool findTick(std::vector<double> &state) override;
 
        virtual std::shared_ptr<PathNode> _forEachNeighbor(
                std::shared_ptr<PathNode> currentNode, std::vector<int> &endCoords
        ) = 0;
 
        std::shared_ptr<PathNode>
        tryToGetNeighborPtr(std::vector<int> newCoords, const std::shared_ptr<PathNode> &parentNode, double sum);
 
        void buildPath() override;
 
        void prepare(const std::vector<double> &startState, const std::vector<double> &endState) override;
 
        void prepare(std::vector<int> &startState, std::vector<int> &endState) override;
 
        std::vector<double> getCurrentState();
 
        void nextNode() { _openSet.erase(_openSet.begin()); }
 
        double _findLinkDistance(std::vector<int> &a, std::vector<int> &b);
 
    protected:
 
        void _moveNodeFromOpenedToClosed(const std::shared_ptr<PathNode> &node);
 
        bool _findCoordsInClosedList(std::vector<int> &coords);
 
        bool _findCoordsInOpenedList(std::vector<int> &coords);
 
        double _getPathNodeWeight(std::vector<int> curCoords, std::vector<int> &endCoords);
 
        unsigned int _kG;
        unsigned int _kD;
        std::shared_ptr<PathNode> _endNode;
        std::vector<std::shared_ptr<PathNode>> _closedNodes;
        std::unordered_set<long> _closedStateConvCodeSet;
        std::set<PathNodePtr> _openSet;
        unsigned int _maxNodeCnt;
 
    };
 
 
}