565 lines
21 KiB
C++
565 lines
21 KiB
C++
|
|
||
|
|
|
||
|
|
//
|
||
|
|
//=======================================================================
|
||
|
|
// Copyright (c) 2004 Kristopher Beevers
|
||
|
|
//
|
||
|
|
// Distributed under the Boost Software License, Version 1.0. (See
|
||
|
|
// accompanying file LICENSE_1_0.txt or copy at
|
||
|
|
// http://www.boost.org/LICENSE_1_0.txt)
|
||
|
|
//=======================================================================
|
||
|
|
//
|
||
|
|
|
||
|
|
#ifndef BOOST_GRAPH_ASTAR_SEARCH_HPP
|
||
|
|
#define BOOST_GRAPH_ASTAR_SEARCH_HPP
|
||
|
|
|
||
|
|
|
||
|
|
#include <functional>
|
||
|
|
#include <vector>
|
||
|
|
#include <boost/limits.hpp>
|
||
|
|
#include <boost/throw_exception.hpp>
|
||
|
|
#include <boost/graph/named_function_params.hpp>
|
||
|
|
#include <boost/graph/relax.hpp>
|
||
|
|
#include <boost/graph/exception.hpp>
|
||
|
|
#include <boost/graph/breadth_first_search.hpp>
|
||
|
|
#include <boost/graph/iteration_macros.hpp>
|
||
|
|
#include <boost/graph/detail/d_ary_heap.hpp>
|
||
|
|
#include <boost/graph/property_maps/constant_property_map.hpp>
|
||
|
|
#include <boost/property_map/property_map.hpp>
|
||
|
|
#include <boost/property_map/vector_property_map.hpp>
|
||
|
|
#include <boost/property_map/function_property_map.hpp>
|
||
|
|
#include <boost/concept/assert.hpp>
|
||
|
|
|
||
|
|
namespace boost {
|
||
|
|
|
||
|
|
|
||
|
|
template <class Heuristic, class Graph>
|
||
|
|
struct AStarHeuristicConcept {
|
||
|
|
void constraints()
|
||
|
|
{
|
||
|
|
BOOST_CONCEPT_ASSERT(( CopyConstructibleConcept<Heuristic> ));
|
||
|
|
h(u);
|
||
|
|
}
|
||
|
|
Heuristic h;
|
||
|
|
typename graph_traits<Graph>::vertex_descriptor u;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class Graph, class CostType>
|
||
|
|
class astar_heuristic : public std::unary_function<
|
||
|
|
typename graph_traits<Graph>::vertex_descriptor, CostType>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
typedef typename graph_traits<Graph>::vertex_descriptor Vertex;
|
||
|
|
astar_heuristic() {}
|
||
|
|
CostType operator()(Vertex u) { return static_cast<CostType>(0); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
template <class Visitor, class Graph>
|
||
|
|
struct AStarVisitorConcept {
|
||
|
|
void constraints()
|
||
|
|
{
|
||
|
|
BOOST_CONCEPT_ASSERT(( CopyConstructibleConcept<Visitor> ));
|
||
|
|
vis.initialize_vertex(u, g);
|
||
|
|
vis.discover_vertex(u, g);
|
||
|
|
vis.examine_vertex(u, g);
|
||
|
|
vis.examine_edge(e, g);
|
||
|
|
vis.edge_relaxed(e, g);
|
||
|
|
vis.edge_not_relaxed(e, g);
|
||
|
|
vis.black_target(e, g);
|
||
|
|
vis.finish_vertex(u, g);
|
||
|
|
}
|
||
|
|
Visitor vis;
|
||
|
|
Graph g;
|
||
|
|
typename graph_traits<Graph>::vertex_descriptor u;
|
||
|
|
typename graph_traits<Graph>::edge_descriptor e;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class Visitors = null_visitor>
|
||
|
|
class astar_visitor : public bfs_visitor<Visitors> {
|
||
|
|
public:
|
||
|
|
astar_visitor() {}
|
||
|
|
astar_visitor(Visitors vis)
|
||
|
|
: bfs_visitor<Visitors>(vis) {}
|
||
|
|
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void edge_relaxed(Edge e, const Graph& g) {
|
||
|
|
invoke_visitors(this->m_vis, e, g, on_edge_relaxed());
|
||
|
|
}
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void edge_not_relaxed(Edge e, const Graph& g) {
|
||
|
|
invoke_visitors(this->m_vis, e, g, on_edge_not_relaxed());
|
||
|
|
}
|
||
|
|
private:
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void tree_edge(Edge e, const Graph& g) {}
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void non_tree_edge(Edge e, const Graph& g) {}
|
||
|
|
};
|
||
|
|
template <class Visitors>
|
||
|
|
astar_visitor<Visitors>
|
||
|
|
make_astar_visitor(Visitors vis) {
|
||
|
|
return astar_visitor<Visitors>(vis);
|
||
|
|
}
|
||
|
|
typedef astar_visitor<> default_astar_visitor;
|
||
|
|
|
||
|
|
|
||
|
|
namespace detail {
|
||
|
|
|
||
|
|
template <class AStarHeuristic, class UniformCostVisitor,
|
||
|
|
class UpdatableQueue, class PredecessorMap,
|
||
|
|
class CostMap, class DistanceMap, class WeightMap,
|
||
|
|
class ColorMap, class BinaryFunction,
|
||
|
|
class BinaryPredicate>
|
||
|
|
struct astar_bfs_visitor
|
||
|
|
{
|
||
|
|
|
||
|
|
typedef typename property_traits<CostMap>::value_type C;
|
||
|
|
typedef typename property_traits<ColorMap>::value_type ColorValue;
|
||
|
|
typedef color_traits<ColorValue> Color;
|
||
|
|
typedef typename property_traits<DistanceMap>::value_type distance_type;
|
||
|
|
|
||
|
|
astar_bfs_visitor(AStarHeuristic h, UniformCostVisitor vis,
|
||
|
|
UpdatableQueue& Q, PredecessorMap p,
|
||
|
|
CostMap c, DistanceMap d, WeightMap w,
|
||
|
|
ColorMap col, BinaryFunction combine,
|
||
|
|
BinaryPredicate compare, C zero)
|
||
|
|
: m_h(h), m_vis(vis), m_Q(Q), m_predecessor(p), m_cost(c),
|
||
|
|
m_distance(d), m_weight(w), m_color(col),
|
||
|
|
m_combine(combine), m_compare(compare), m_zero(zero) {}
|
||
|
|
|
||
|
|
|
||
|
|
template <class Vertex, class Graph>
|
||
|
|
void initialize_vertex(Vertex u, const Graph& g) {
|
||
|
|
m_vis.initialize_vertex(u, g);
|
||
|
|
}
|
||
|
|
template <class Vertex, class Graph>
|
||
|
|
void discover_vertex(Vertex u, const Graph& g) {
|
||
|
|
m_vis.discover_vertex(u, g);
|
||
|
|
}
|
||
|
|
template <class Vertex, class Graph>
|
||
|
|
void examine_vertex(Vertex u, const Graph& g) {
|
||
|
|
m_vis.examine_vertex(u, g);
|
||
|
|
}
|
||
|
|
template <class Vertex, class Graph>
|
||
|
|
void finish_vertex(Vertex u, const Graph& g) {
|
||
|
|
m_vis.finish_vertex(u, g);
|
||
|
|
}
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void examine_edge(Edge e, const Graph& g) {
|
||
|
|
if (m_compare(get(m_weight, e), m_zero))
|
||
|
|
BOOST_THROW_EXCEPTION(negative_edge());
|
||
|
|
m_vis.examine_edge(e, g);
|
||
|
|
}
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void non_tree_edge(Edge, const Graph&) {}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void tree_edge(Edge e, const Graph& g) {
|
||
|
|
using boost::get;
|
||
|
|
bool m_decreased =
|
||
|
|
relax(e, g, m_weight, m_predecessor, m_distance,
|
||
|
|
m_combine, m_compare);
|
||
|
|
|
||
|
|
if(m_decreased) {
|
||
|
|
m_vis.edge_relaxed(e, g);
|
||
|
|
put(m_cost, target(e, g),
|
||
|
|
m_combine(get(m_distance, target(e, g)),
|
||
|
|
m_h(target(e, g))));
|
||
|
|
} else
|
||
|
|
m_vis.edge_not_relaxed(e, g);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void gray_target(Edge e, const Graph& g) {
|
||
|
|
using boost::get;
|
||
|
|
bool m_decreased =
|
||
|
|
relax(e, g, m_weight, m_predecessor, m_distance,
|
||
|
|
m_combine, m_compare);
|
||
|
|
|
||
|
|
if(m_decreased) {
|
||
|
|
put(m_cost, target(e, g),
|
||
|
|
m_combine(get(m_distance, target(e, g)),
|
||
|
|
m_h(target(e, g))));
|
||
|
|
m_Q.update(target(e, g));
|
||
|
|
m_vis.edge_relaxed(e, g);
|
||
|
|
} else
|
||
|
|
m_vis.edge_not_relaxed(e, g);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
template <class Edge, class Graph>
|
||
|
|
void black_target(Edge e, const Graph& g) {
|
||
|
|
using boost::get;
|
||
|
|
bool m_decreased =
|
||
|
|
relax(e, g, m_weight, m_predecessor, m_distance,
|
||
|
|
m_combine, m_compare);
|
||
|
|
|
||
|
|
if(m_decreased) {
|
||
|
|
m_vis.edge_relaxed(e, g);
|
||
|
|
put(m_cost, target(e, g),
|
||
|
|
m_combine(get(m_distance, target(e, g)),
|
||
|
|
m_h(target(e, g))));
|
||
|
|
m_Q.push(target(e, g));
|
||
|
|
put(m_color, target(e, g), Color::gray());
|
||
|
|
m_vis.black_target(e, g);
|
||
|
|
} else
|
||
|
|
m_vis.edge_not_relaxed(e, g);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
AStarHeuristic m_h;
|
||
|
|
UniformCostVisitor m_vis;
|
||
|
|
UpdatableQueue& m_Q;
|
||
|
|
PredecessorMap m_predecessor;
|
||
|
|
CostMap m_cost;
|
||
|
|
DistanceMap m_distance;
|
||
|
|
WeightMap m_weight;
|
||
|
|
ColorMap m_color;
|
||
|
|
BinaryFunction m_combine;
|
||
|
|
BinaryPredicate m_compare;
|
||
|
|
C m_zero;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace detail
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
template <typename VertexListGraph, typename AStarHeuristic,
|
||
|
|
typename AStarVisitor, typename PredecessorMap,
|
||
|
|
typename CostMap, typename DistanceMap,
|
||
|
|
typename WeightMap, typename ColorMap,
|
||
|
|
typename VertexIndexMap,
|
||
|
|
typename CompareFunction, typename CombineFunction,
|
||
|
|
typename CostInf, typename CostZero>
|
||
|
|
inline void
|
||
|
|
astar_search_no_init
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, AStarVisitor vis,
|
||
|
|
PredecessorMap predecessor, CostMap cost,
|
||
|
|
DistanceMap distance, WeightMap weight,
|
||
|
|
ColorMap color, VertexIndexMap index_map,
|
||
|
|
CompareFunction compare, CombineFunction combine,
|
||
|
|
CostInf /*inf*/, CostZero zero)
|
||
|
|
{
|
||
|
|
typedef typename graph_traits<VertexListGraph>::vertex_descriptor
|
||
|
|
Vertex;
|
||
|
|
typedef boost::vector_property_map<std::size_t, VertexIndexMap> IndexInHeapMap;
|
||
|
|
IndexInHeapMap index_in_heap(index_map);
|
||
|
|
typedef d_ary_heap_indirect<Vertex, 4, IndexInHeapMap, CostMap, CompareFunction>
|
||
|
|
MutableQueue;
|
||
|
|
MutableQueue Q(cost, index_in_heap, compare);
|
||
|
|
|
||
|
|
detail::astar_bfs_visitor<AStarHeuristic, AStarVisitor,
|
||
|
|
MutableQueue, PredecessorMap, CostMap, DistanceMap,
|
||
|
|
WeightMap, ColorMap, CombineFunction, CompareFunction>
|
||
|
|
bfs_vis(h, vis, Q, predecessor, cost, distance, weight,
|
||
|
|
color, combine, compare, zero);
|
||
|
|
|
||
|
|
breadth_first_visit(g, s, Q, bfs_vis, color);
|
||
|
|
}
|
||
|
|
|
||
|
|
namespace graph_detail {
|
||
|
|
template <typename A, typename B>
|
||
|
|
struct select1st {
|
||
|
|
typedef std::pair<A, B> argument_type;
|
||
|
|
typedef A result_type;
|
||
|
|
A operator()(const std::pair<A, B>& p) const {return p.first;}
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename VertexListGraph, typename AStarHeuristic,
|
||
|
|
typename AStarVisitor, typename PredecessorMap,
|
||
|
|
typename CostMap, typename DistanceMap,
|
||
|
|
typename WeightMap,
|
||
|
|
typename CompareFunction, typename CombineFunction,
|
||
|
|
typename CostInf, typename CostZero>
|
||
|
|
inline void
|
||
|
|
astar_search_no_init_tree
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, AStarVisitor vis,
|
||
|
|
PredecessorMap predecessor, CostMap cost,
|
||
|
|
DistanceMap distance, WeightMap weight,
|
||
|
|
CompareFunction compare, CombineFunction combine,
|
||
|
|
CostInf /*inf*/, CostZero zero)
|
||
|
|
{
|
||
|
|
typedef typename graph_traits<VertexListGraph>::vertex_descriptor
|
||
|
|
Vertex;
|
||
|
|
typedef typename property_traits<DistanceMap>::value_type Distance;
|
||
|
|
typedef d_ary_heap_indirect<
|
||
|
|
std::pair<Distance, Vertex>,
|
||
|
|
4,
|
||
|
|
null_property_map<std::pair<Distance, Vertex>, std::size_t>,
|
||
|
|
function_property_map<graph_detail::select1st<Distance, Vertex>, std::pair<Distance, Vertex> >,
|
||
|
|
CompareFunction>
|
||
|
|
MutableQueue;
|
||
|
|
MutableQueue Q(
|
||
|
|
make_function_property_map<std::pair<Distance, Vertex> >(graph_detail::select1st<Distance, Vertex>()),
|
||
|
|
null_property_map<std::pair<Distance, Vertex>, std::size_t>(),
|
||
|
|
compare);
|
||
|
|
|
||
|
|
vis.discover_vertex(s, g);
|
||
|
|
Q.push(std::make_pair(get(cost, s), s));
|
||
|
|
while (!Q.empty()) {
|
||
|
|
Vertex v;
|
||
|
|
Distance v_rank;
|
||
|
|
boost::tie(v_rank, v) = Q.top();
|
||
|
|
Q.pop();
|
||
|
|
vis.examine_vertex(v, g);
|
||
|
|
BGL_FORALL_OUTEDGES_T(v, e, g, VertexListGraph) {
|
||
|
|
Vertex w = target(e, g);
|
||
|
|
vis.examine_edge(e, g);
|
||
|
|
Distance e_weight = get(weight, e);
|
||
|
|
if (compare(e_weight, zero))
|
||
|
|
BOOST_THROW_EXCEPTION(negative_edge());
|
||
|
|
bool decreased =
|
||
|
|
relax(e, g, weight, predecessor, distance,
|
||
|
|
combine, compare);
|
||
|
|
Distance w_d = combine(get(distance, v), e_weight);
|
||
|
|
if (decreased) {
|
||
|
|
vis.edge_relaxed(e, g);
|
||
|
|
Distance w_rank = combine(get(distance, w), h(w));
|
||
|
|
put(cost, w, w_rank);
|
||
|
|
vis.discover_vertex(w, g);
|
||
|
|
Q.push(std::make_pair(w_rank, w));
|
||
|
|
} else {
|
||
|
|
vis.edge_not_relaxed(e, g);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
vis.finish_vertex(v, g);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Non-named parameter interface
|
||
|
|
template <typename VertexListGraph, typename AStarHeuristic,
|
||
|
|
typename AStarVisitor, typename PredecessorMap,
|
||
|
|
typename CostMap, typename DistanceMap,
|
||
|
|
typename WeightMap, typename VertexIndexMap,
|
||
|
|
typename ColorMap,
|
||
|
|
typename CompareFunction, typename CombineFunction,
|
||
|
|
typename CostInf, typename CostZero>
|
||
|
|
inline void
|
||
|
|
astar_search
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, AStarVisitor vis,
|
||
|
|
PredecessorMap predecessor, CostMap cost,
|
||
|
|
DistanceMap distance, WeightMap weight,
|
||
|
|
VertexIndexMap index_map, ColorMap color,
|
||
|
|
CompareFunction compare, CombineFunction combine,
|
||
|
|
CostInf inf, CostZero zero)
|
||
|
|
{
|
||
|
|
|
||
|
|
typedef typename property_traits<ColorMap>::value_type ColorValue;
|
||
|
|
typedef color_traits<ColorValue> Color;
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_iterator ui, ui_end;
|
||
|
|
for (boost::tie(ui, ui_end) = vertices(g); ui != ui_end; ++ui) {
|
||
|
|
put(color, *ui, Color::white());
|
||
|
|
put(distance, *ui, inf);
|
||
|
|
put(cost, *ui, inf);
|
||
|
|
put(predecessor, *ui, *ui);
|
||
|
|
vis.initialize_vertex(*ui, g);
|
||
|
|
}
|
||
|
|
put(distance, s, zero);
|
||
|
|
put(cost, s, h(s));
|
||
|
|
|
||
|
|
astar_search_no_init
|
||
|
|
(g, s, h, vis, predecessor, cost, distance, weight,
|
||
|
|
color, index_map, compare, combine, inf, zero);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
// Non-named parameter interface
|
||
|
|
template <typename VertexListGraph, typename AStarHeuristic,
|
||
|
|
typename AStarVisitor, typename PredecessorMap,
|
||
|
|
typename CostMap, typename DistanceMap,
|
||
|
|
typename WeightMap,
|
||
|
|
typename CompareFunction, typename CombineFunction,
|
||
|
|
typename CostInf, typename CostZero>
|
||
|
|
inline void
|
||
|
|
astar_search_tree
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, AStarVisitor vis,
|
||
|
|
PredecessorMap predecessor, CostMap cost,
|
||
|
|
DistanceMap distance, WeightMap weight,
|
||
|
|
CompareFunction compare, CombineFunction combine,
|
||
|
|
CostInf inf, CostZero zero)
|
||
|
|
{
|
||
|
|
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_iterator ui, ui_end;
|
||
|
|
for (boost::tie(ui, ui_end) = vertices(g); ui != ui_end; ++ui) {
|
||
|
|
put(distance, *ui, inf);
|
||
|
|
put(cost, *ui, inf);
|
||
|
|
put(predecessor, *ui, *ui);
|
||
|
|
vis.initialize_vertex(*ui, g);
|
||
|
|
}
|
||
|
|
put(distance, s, zero);
|
||
|
|
put(cost, s, h(s));
|
||
|
|
|
||
|
|
astar_search_no_init_tree
|
||
|
|
(g, s, h, vis, predecessor, cost, distance, weight,
|
||
|
|
compare, combine, inf, zero);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
// Named parameter interfaces
|
||
|
|
template <typename VertexListGraph,
|
||
|
|
typename AStarHeuristic,
|
||
|
|
typename P, typename T, typename R>
|
||
|
|
void
|
||
|
|
astar_search
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, const bgl_named_params<P, T, R>& params)
|
||
|
|
{
|
||
|
|
using namespace boost::graph::keywords;
|
||
|
|
typedef bgl_named_params<P, T, R> params_type;
|
||
|
|
BOOST_GRAPH_DECLARE_CONVERTED_PARAMETERS(params_type, params)
|
||
|
|
|
||
|
|
// Distance type is the value type of the distance map if there is one,
|
||
|
|
// otherwise the value type of the weight map.
|
||
|
|
typedef
|
||
|
|
typename detail::override_const_property_result<
|
||
|
|
arg_pack_type, tag::weight_map, edge_weight_t, VertexListGraph>::type
|
||
|
|
weight_map_type;
|
||
|
|
typedef typename boost::property_traits<weight_map_type>::value_type W;
|
||
|
|
typedef
|
||
|
|
typename detail::map_maker<VertexListGraph, arg_pack_type, tag::distance_map, W>::map_type
|
||
|
|
distance_map_type;
|
||
|
|
typedef typename boost::property_traits<distance_map_type>::value_type D;
|
||
|
|
const D inf = arg_pack[_distance_inf || detail::get_max<D>()];
|
||
|
|
|
||
|
|
astar_search
|
||
|
|
(g, s, h,
|
||
|
|
arg_pack[_visitor | make_astar_visitor(null_visitor())],
|
||
|
|
arg_pack[_predecessor_map | dummy_property_map()],
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::rank_map, D>(D())(g, arg_pack),
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::distance_map, W>(W())(g, arg_pack),
|
||
|
|
detail::override_const_property(arg_pack, _weight_map, g, edge_weight),
|
||
|
|
detail::override_const_property(arg_pack, _vertex_index_map, g, vertex_index),
|
||
|
|
detail::make_color_map_from_arg_pack(g, arg_pack),
|
||
|
|
arg_pack[_distance_compare | std::less<D>()],
|
||
|
|
arg_pack[_distance_combine | closed_plus<D>(inf)],
|
||
|
|
inf,
|
||
|
|
arg_pack[_distance_zero | D()]);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Named parameter interfaces
|
||
|
|
template <typename VertexListGraph,
|
||
|
|
typename AStarHeuristic,
|
||
|
|
typename P, typename T, typename R>
|
||
|
|
void
|
||
|
|
astar_search_tree
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, const bgl_named_params<P, T, R>& params)
|
||
|
|
{
|
||
|
|
using namespace boost::graph::keywords;
|
||
|
|
typedef bgl_named_params<P, T, R> params_type;
|
||
|
|
BOOST_GRAPH_DECLARE_CONVERTED_PARAMETERS(params_type, params)
|
||
|
|
|
||
|
|
// Distance type is the value type of the distance map if there is one,
|
||
|
|
// otherwise the value type of the weight map.
|
||
|
|
typedef
|
||
|
|
typename detail::override_const_property_result<
|
||
|
|
arg_pack_type, tag::weight_map, edge_weight_t, VertexListGraph>::type
|
||
|
|
weight_map_type;
|
||
|
|
typedef typename boost::property_traits<weight_map_type>::value_type W;
|
||
|
|
typedef
|
||
|
|
typename detail::map_maker<VertexListGraph, arg_pack_type, tag::distance_map, W>::map_type
|
||
|
|
distance_map_type;
|
||
|
|
typedef typename boost::property_traits<distance_map_type>::value_type D;
|
||
|
|
const D inf = arg_pack[_distance_inf || detail::get_max<D>()];
|
||
|
|
|
||
|
|
astar_search_tree
|
||
|
|
(g, s, h,
|
||
|
|
arg_pack[_visitor | make_astar_visitor(null_visitor())],
|
||
|
|
arg_pack[_predecessor_map | dummy_property_map()],
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::rank_map, D>(D())(g, arg_pack),
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::distance_map, W>(W())(g, arg_pack),
|
||
|
|
detail::override_const_property(arg_pack, _weight_map, g, edge_weight),
|
||
|
|
arg_pack[_distance_compare | std::less<D>()],
|
||
|
|
arg_pack[_distance_combine | closed_plus<D>(inf)],
|
||
|
|
inf,
|
||
|
|
arg_pack[_distance_zero | D()]);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename VertexListGraph,
|
||
|
|
typename AStarHeuristic,
|
||
|
|
typename P, typename T, typename R>
|
||
|
|
void
|
||
|
|
astar_search_no_init
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, const bgl_named_params<P, T, R>& params)
|
||
|
|
{
|
||
|
|
using namespace boost::graph::keywords;
|
||
|
|
typedef bgl_named_params<P, T, R> params_type;
|
||
|
|
BOOST_GRAPH_DECLARE_CONVERTED_PARAMETERS(params_type, params)
|
||
|
|
typedef
|
||
|
|
typename detail::override_const_property_result<
|
||
|
|
arg_pack_type, tag::weight_map, edge_weight_t, VertexListGraph>::type
|
||
|
|
weight_map_type;
|
||
|
|
typedef typename boost::property_traits<weight_map_type>::value_type D;
|
||
|
|
const D inf = arg_pack[_distance_inf || detail::get_max<D>()];
|
||
|
|
astar_search_no_init
|
||
|
|
(g, s, h,
|
||
|
|
arg_pack[_visitor | make_astar_visitor(null_visitor())],
|
||
|
|
arg_pack[_predecessor_map | dummy_property_map()],
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::rank_map, D>(D())(g, arg_pack),
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::distance_map, D>(D())(g, arg_pack),
|
||
|
|
detail::override_const_property(arg_pack, _weight_map, g, edge_weight),
|
||
|
|
detail::make_color_map_from_arg_pack(g, arg_pack),
|
||
|
|
detail::override_const_property(arg_pack, _vertex_index_map, g, vertex_index),
|
||
|
|
arg_pack[_distance_compare | std::less<D>()],
|
||
|
|
arg_pack[_distance_combine | closed_plus<D>(inf)],
|
||
|
|
inf,
|
||
|
|
arg_pack[_distance_zero | D()]);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename VertexListGraph,
|
||
|
|
typename AStarHeuristic,
|
||
|
|
typename P, typename T, typename R>
|
||
|
|
void
|
||
|
|
astar_search_no_init_tree
|
||
|
|
(const VertexListGraph &g,
|
||
|
|
typename graph_traits<VertexListGraph>::vertex_descriptor s,
|
||
|
|
AStarHeuristic h, const bgl_named_params<P, T, R>& params)
|
||
|
|
{
|
||
|
|
using namespace boost::graph::keywords;
|
||
|
|
typedef bgl_named_params<P, T, R> params_type;
|
||
|
|
BOOST_GRAPH_DECLARE_CONVERTED_PARAMETERS(params_type, params)
|
||
|
|
typedef
|
||
|
|
typename detail::override_const_property_result<
|
||
|
|
arg_pack_type, tag::weight_map, edge_weight_t, VertexListGraph>::type
|
||
|
|
weight_map_type;
|
||
|
|
typedef typename boost::property_traits<weight_map_type>::value_type D;
|
||
|
|
const D inf = arg_pack[_distance_inf || detail::get_max<D>()];
|
||
|
|
astar_search_no_init_tree
|
||
|
|
(g, s, h,
|
||
|
|
arg_pack[_visitor | make_astar_visitor(null_visitor())],
|
||
|
|
arg_pack[_predecessor_map | dummy_property_map()],
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::rank_map, D>(D())(g, arg_pack),
|
||
|
|
detail::make_property_map_from_arg_pack_gen<tag::distance_map, D>(D())(g, arg_pack),
|
||
|
|
detail::override_const_property(arg_pack, _weight_map, g, edge_weight),
|
||
|
|
arg_pack[_distance_compare | std::less<D>()],
|
||
|
|
arg_pack[_distance_combine | closed_plus<D>(inf)],
|
||
|
|
inf,
|
||
|
|
arg_pack[_distance_zero | D()]);
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace boost
|
||
|
|
|
||
|
|
#endif // BOOST_GRAPH_ASTAR_SEARCH_HPP
|