int is_var_in_memory(char *variable_name)
{
/** we have a default structure defined in the list_structure_toolkit,
* lets search it for variable_name **/
return node_exists( &loaded_variable_listPtr, variable_name);
}
END_TEST
START_TEST(node_exists_check)
{
pbsnode node1;
pbsnode node2;
node1.change_name("bob");
node2.change_name("tom");
initialize_allnodes(&allnodes, &node1, &node2);
fail_unless(node_exists("bob") == true);
fail_unless(node_exists("tom") == true);
fail_unless(node_exists("joe") == false);
}
/** Make sure each node in the edges exists. */
void
NavGraph::assert_valid_edges()
{
for (size_t i = 0; i < edges_.size(); ++i) {
if (! node_exists(edges_[i].from())) {
throw Exception("Node '%s' for edge '%s' -> '%s' does not exist",
edges_[i].from().c_str(), edges_[i].from().c_str(),
edges_[i].to().c_str());
}
if (! node_exists(edges_[i].to())) {
throw Exception("Node '%s' for edge '%s' -> '%s' does not exist",
edges_[i].to().c_str(), edges_[i].from().c_str(),
edges_[i].to().c_str());
}
}
}
/** Add a node.
* @param node node to add
* @throw Exception thrown if node with the same name as @p node already exists
*/
void
NavGraph::add_node(const NavGraphNode &node)
{
if (node_exists(node)) {
throw Exception("Node with name %s already exists", node.name().c_str());
} else {
nodes_.push_back(node);
apply_default_properties(nodes_.back());
reachability_calced_ = false;
notify_of_change();
}
}
/** Connect node to closest edge
* @param n node to connect to closest node
*/
void
NavGraph::connect_node_to_closest_edge(const NavGraphNode &n)
{
NavGraphEdge closest = closest_edge(n.x(), n.y());
cart_coord_2d_t p = closest.closest_point_on_edge(n.x(), n.y());
NavGraphNode closest_conn = closest_node(p.x, p.y);
NavGraphNode cn;
if (almost_equal(closest_conn.distance(p.x, p.y), 0.f, 2)) {
cn = closest_conn;
} else {
cn = NavGraphNode(NavGraph::format_name("C-%s", n.name().c_str()), p.x, p.y);
}
if (closest.from() == cn.name() || closest.to() == cn.name()) {
// we actually want to connect to one of the end nodes of the edge,
// simply add the new edge and we are done
NavGraphEdge new_edge(cn.name(), n.name());
new_edge.set_property("generated", true);
new_edge.set_property("created-for", cn.name() + "--" + n.name());
add_edge(new_edge);
} else {
// we are inserting a new point into the edge
remove_edge(closest);
NavGraphEdge new_edge_1(closest.from(), cn.name());
NavGraphEdge new_edge_2(closest.to(), cn.name());
NavGraphEdge new_edge_3(cn.name(), n.name());
new_edge_1.set_properties(closest.properties());
new_edge_2.set_properties(closest.properties());
new_edge_3.set_property("created-for", cn.name() + "--" + n.name());
new_edge_3.set_property("generated", true);
if (! node_exists(cn)) add_node(cn);
add_edge(new_edge_1);
add_edge(new_edge_2);
add_edge(new_edge_3);
}
}
