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#include <deque>
#include "problem.hpp"
using namespace std;
// ===================================== //
// IMPLEMENTATION FOR CLASS HILARE_A_MVT //
// ===================================== //
double hilare_a_mvt::length() {
// returns length traveled by the car
if (is_arc) return domega * (center - from.pos()).norm();
return ds ;
}
bool hilare_a::intersects(const obstacle &o) const {
if((pos()-o.c.c).norm() < o.c.r + param->r_c_car)return true ;
if((pos_trolley()-o.c.c).norm() < o.c.r + param->r_c_trolley)return true ;
if(segment(pos(),pos_trolley()).dist(o.c.c) < o.c.r)return true ;
return false ;
}
bool hilare_a_mvt::intersects(const obstacle &o) const {
hilare_a_param *p = from.param;
vec pos_init = from.pos();
vec pos_init_trolley = from.pos_trolley();
if(is_arc){
double r_min =
min((pos_init - center).norm()-(p->r_c_car),
(pos_init_trolley - center).norm()-(p->r_c_trolley));
double r_max =
max((pos_init - center).norm()+(p->r_c_car),
(pos_init_trolley - center).norm()+(p->r_c_trolley));
//TODO
double theta1 = 0;
double theta2 = 0;
angular_sector sector = angular_sector(circarc(circle(center,r_min), theta1, theta2), circarc(circle(center,r_max), theta1, theta2));
if (sector.dist(o.c.c)<=o.c.r)return true;
if (from.intersects(o)) return true;
if (to.intersects(o)) return true;
return false;
}
return false;
}
bool hilare_a_mvt::intersects(const problem &p) const {
for (auto& i: p.obstacles) {
if (intersects(i)) return true;
}
return false;
}
// ================================= //
// IMPLEMENTATION FOR CLASS SOLUTION //
// ================================= //
solution solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos_b) {
vector<hilare_a_mvt> sol;
// TODO: try different possibilities and chose the shortest one
hilare_a_mvt mvt;
mvt.from = pos_a;
mvt.to = pos_b;
mvt.is_arc = false;
// la suite à compléter
sol.push_back(mvt);
return solution(sol);
}
bool solution::intersects(const problem &p) const {
for (auto& x: movement) {
if (x.intersects(p)) return true;
}
return false;
}
// =============================== //
// IMPLEMENTATION FOR CLASS SOLVER //
// =============================== //
solver::solver() : _worker(&solver::run, this) {
_running = false;
_done = false;
_please_stop = false;
}
void solver::start(const problem &p) {
_p = p;
if (_running) {
_please_stop = true;
_worker.wait();
}
_please_stop = false;
_done = false;
_running = true;
_worker.launch();
}
void solver::run() {
problem p = _p; // copy problem
solver_internal d;
d.initialize(p);
{
sf::Lock l(_d_lock);
_d = d;
}
while (!_please_stop) {
solution s = d.try_find_solution();
if (s.movement.size() > 0) {
_s = s;
_done = true;
break;
}
if (!_please_stop) break;
d.step(p);
// Write local results to guys outside
{
sf::Lock l(_d_lock);
_d = d;
}
}
_running = false;
}
bool solver::finished() {
return _done;
}
solution solver::get_solution() {
if (_done) return _s;
return solution();
}
solver_internal solver::peek_internal() {
solver_internal x;
{
sf::Lock l(_d_lock);
x = _d;
}
return x;
}
void solver_internal::initialize(const problem &p) {
paths.clear();
pts.clear();
pts.push_back(p.begin_pos);
pts.push_back(p.end_pos);
solution ts = solution::direct_sol(p.begin_pos, p.end_pos);
if (!ts.intersects(p)) {
paths[0][1] = ts;
}
}
solution solver_internal::try_find_solution() {
// Simple graph search algorithm
vector<int> par(pts.size(), -1);
deque<int> q;
par[0] = 0;
q.push_back(0);
while (!q.empty()) {
int x = q.front();
q.pop_front();
if (paths.find(x) != paths.end()) {
auto pp = paths.find(x)->second;
for (auto& kv: pp) {
int y = kv.first;
if (par[y] == -1) {
par[y] = x;
q.push_back(y);
}
}
}
}
if (par[1] != -1) {
vector<hilare_a_mvt> sol;
int b = 1;
while (b != 0) {
int a = par[b];
auto& x = paths[a][b];
sol.insert(sol.begin(), x.movement.begin(), x.movement.end());
b = a;
}
return solution(sol);
}
return solution(); // not found
}
void solver_internal::step(const problem &p) {
// take new random point
double min_x = p.obstacles[0].c.c.x, min_y = p.obstacles[0].c.c.y;
double max_x = min_x, max_y = min_y;
for (auto& o: p.obstacles) {
if (o.c.c.x < min_x) min_x = o.c.c.x;
if (o.c.c.y < min_y) min_y = o.c.c.y;
if (o.c.c.x > max_x) max_x = o.c.c.x;
if (o.c.c.y > max_y) max_y = o.c.c.y;
}
hilare_a rp = p.begin_pos;
rp.x = frand(min_x, max_x);
rp.y = frand(min_y, max_y);
rp.theta = frand(-M_PI, M_PI);
rp.phi = frand(-M_PI, M_PI);
// try to connect to all existing points
for (unsigned i = 0; i < pts.size(); i++) {
solution s = solution::direct_sol(pts[i], rp);
if (s.movement.size() > 0 && !s.intersects(p)) {
paths[i][pts.size()] = s;
}
}
pts.push_back(rp);
}
/* vim: set ts=4 sw=4 tw=0 noet :*/
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