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Fr4nz D13trich 2025-11-22 13:58:55 +01:00
parent 4af19165ec
commit 68073add76
12458 changed files with 12350765 additions and 2 deletions
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63
libs/routing/base/astar_graph.hpp Normal file
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#pragma once
#include "routing/base/astar_vertex_data.hpp"
#include "routing/base/astar_weight.hpp"
#include "routing/base/small_list.hpp"
#include "base/buffer_vector.hpp"
#include <map>
#include <vector>
#include "3party/skarupke/bytell_hash_map.hpp"
namespace routing
{
template <typename VertexType, typename EdgeType, typename WeightType>
class AStarGraph
{
public:
using Vertex = VertexType;
using Edge = EdgeType;
using Weight = WeightType;
using Parents = ska::bytell_hash_map<Vertex, Vertex>;
using EdgeListT = SmallList<Edge>;
virtual Weight HeuristicCostEstimate(Vertex const & from, Vertex const & to) = 0;
virtual void GetOutgoingEdgesList(astar::VertexData<Vertex, Weight> const & vertexData, EdgeListT & edges) = 0;
virtual void GetIngoingEdgesList(astar::VertexData<Vertex, Weight> const & vertexData, EdgeListT & edges) = 0;
virtual void SetAStarParents(bool forward, Parents & parents);
virtual void DropAStarParents();
virtual bool AreWavesConnectible(Parents & forwardParents, Vertex const & commonVertex, Parents & backwardParents);
virtual Weight GetAStarWeightEpsilon();
virtual ~AStarGraph() = default;
};
template <typename VertexType, typename EdgeType, typename WeightType>
void AStarGraph<VertexType, EdgeType, WeightType>::SetAStarParents(bool /* forward */, Parents & /* parents */)
{}
template <typename VertexType, typename EdgeType, typename WeightType>
void AStarGraph<VertexType, EdgeType, WeightType>::DropAStarParents()
{}
template <typename VertexType, typename EdgeType, typename WeightType>
bool AStarGraph<VertexType, EdgeType, WeightType>::AreWavesConnectible(AStarGraph::Parents & /* forwardParents */,
Vertex const & /* commonVertex */,
AStarGraph::Parents & /* backwardParents */)
{
return true;
}
template <typename VertexType, typename EdgeType, typename WeightType>
WeightType AStarGraph<VertexType, EdgeType, WeightType>::GetAStarWeightEpsilon()
{
return routing::GetAStarWeightEpsilon<WeightType>();
}
} // namespace routing