void _identifySuccessors(struct grid *gd, struct node *activeNode, struct open_list *current, struct node *endNode)
{
int endX = endNode->x;
int endY = endNode->y;
int *jumpPoint;
struct neighbor_xy_list *neighbors_head = _findNeighbors(gd, activeNode);
struct neighbor_xy_list *neighbors_current = neighbors_head;
while (neighbors_head != (neighbors_current = neighbors_current->right)) {
if (DEBUG) {
if (isWalkableAt(gd, neighbors_current->x, neighbors_current->y))
printf("Neighbor x:%d/y:%d is walkable!\n", neighbors_current->x, neighbors_current->y);
else
printf("Neighbor x:%d/y:%d is NOT walkable!\n", neighbors_current->x, neighbors_current->y);
}
jumpPoint = _jump(gd, neighbors_current->x, neighbors_current->y, activeNode->x, activeNode->y, endNode);
if (DEBUG)
printf("Jump point not set!\n\n");
if (jumpPoint != NULL) {
int jx, jy, d, ng;
struct node *jumpNode;
if (DEBUG)
printf("Jump point set!\n\n");
jx = jumpPoint[0];
jy = jumpPoint[1];
free(jumpPoint);
malloc_count--; /* [ Malloc Count ] */
jumpNode = getNodeAt(gd, jx, jy);
if (jumpNode->closed) {
continue;
}
d = euclidean(abs(jx - activeNode->x), abs(jy - activeNode->y));
ng = activeNode->g + d;
if (!jumpNode->opened || ng < jumpNode->g) {
jumpNode->g = ng;
if (!jumpNode->h)
jumpNode->h = manhattan(abs(jx - endX), abs(jy - endY));
/* jumpNode->h = jumpNode->h || manhattan(abs(jx - endX), abs(jy - endY)); // ASK FIDELIS !! */
jumpNode->f = jumpNode->g + jumpNode->h;
if (DEBUG)
printf("Node g:%d h:%d f:%d\n", jumpNode->g, jumpNode->h, jumpNode->f);
jumpNode->parent = activeNode;
if (!jumpNode->opened) {
current = ol_insert_right(current, jumpNode);
jumpNode->opened = true;
} else {
ol_listsort(current->right);
}
}
}
}
neighbor_xy_clean(neighbors_head);
}
void checkForMatch(const shared_ptr<const Node>& n)
{
// find other nearby candidates
set<long> neighbors = _findNeighbors(n);
ElementId from(n->getElementId());
_elementsEvaluated++;
int neighborCount = 0;
vector<double> classes;
for (set<long>::const_iterator it = neighbors.begin(); it != neighbors.end(); ++it)
{
ElementId eid(ElementType::Node, *it);
const shared_ptr<const Node>& neighbor = _map->getNode(*it);
// make sure we only create one match per pair. Use the node with the larger circular error
// to make sure we do the larger of the two queries. If the CE is equal then use the eid
// with the lower id. Arbitrary, but it will prevent duplicates.
if ((neighbor->getCircularError() < n->getCircularError()) ||
(neighbor->getCircularError() == n->getCircularError() && from.getId() < eid.getId()))
{
if (OsmSchema::getInstance().isPoi(*n))
{
// score each candidate and push it on the result vector
PlacesPoiMatch* m = new PlacesPoiMatch(_map, from, eid, _threshold);
// if we're confident this is a miss
if (m->getClassification().getMissP() >= _rejectScore)
{
delete m;
}
else
{
_result.push_back(m);
neighborCount++;
}
}
}
}
_neighborCountSum += neighborCount;
_neighborCountMax = std::max(_neighborCountMax, neighborCount);
}