MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow){
ui->setupUi(this);
createActions();
createMenus();
initVectors();
initListeners();
muteEvent=false;
ClickedClear();
sqlite = new SQLite();
openSet(true);
sqlite->startDriver();
}
vector<point> BlockAStar::startProcess()
{
////////////////////////////////////////////////////////////////////////////
//initialize variables
point start(0,0);
point goal(gridSize[0]-1,gridSize[1]-1);
int nodepointer = 0;
int currentIdx;
point current(0,0);
int neighborIdx;
point neighbor(0,0);
int i;
FLOAT tentativeScore; //helper variables
int gridElements = gridSize[0]*gridSize[1];
int allocSize = (int)floor(PREALLOC_FACTOR*gridElements);
//G.create(size[0],size[1]); //contains the accumulated values
G.create(size[0],size[1],blockSize); //contains the accumulated values
nodeMap.create(-1,gridSize[0],gridSize[1]); //matrix that contains the index
updated[0] = new Matrix<bool>(false,gridSize[0]+1,gridSize[1]+1); //update flags
updated[1] = new Matrix<bool>(false,gridSize[0]+1,gridSize[1]+1); //+1, so that no border check necessary
updated[2] = new Matrix<bool>(false,gridSize[0]+1,gridSize[1]+1);
nodes.reserve(allocSize);
cameFrom.reserve(allocSize);
gScore.reserve(allocSize);
//fScore.reserve(allocSize);
MinHeap<FLOAT> openSet((int)(allocSize/PREALLOC_FACTOR)); //openset - priority queue
#ifdef USE_CLOSEDSET
Matrix<bool> closedSet(gridSize[0],gridSize[1]); ///closedset - matrix
#endif //USE_CLOSEDSET
////////////////////////////////////////////////////////////////////////////
//intialize start values
nodes.push_back(start);
cameFrom.push_back(-1);
FLOAT tempGS = getRealCost(start,-1);
gScore.push_back(tempGS);
nodeMap.set(start,nodepointer);
openSet.push(tempGS+getHeuristicCost(start,goal),nodepointer);
////////////////////////////////////////////////////////////////////////////
//start iterations
while (!openSet.empty())
{
//get node with lowest cost
currentIdx = openSet.pop();
current = nodes[currentIdx];
//check if we are at goal
if (current==goal) {
break;
}
#ifdef USE_CLOSEDSET
///add to closed set
closedSet.set(current,1);
#endif //USE_CLOSEDSET
//evaluate each neighbor
for (i=0;i<3;i++)
{
neighbor = current + move[i];
//border check
if ((neighbor.first >= gridSize[0]) || (neighbor.second >= gridSize[1])){
continue;
}
//check mask
if (useMask) {
if (mask.get(neighbor)==0) {
continue;
}
}
#ifdef USE_CLOSEDSET
///check closed set
if (closedSet.get(neighbor) == 1) {
continue; //do nothing for this neighbor
}
#endif //USE_CLOSEDSET
neighborIdx = nodeMap.get(neighbor);
tentativeScore = getRealCost(neighbor,neighborIdx);
if (neighborIdx == -1) //unwalked coordinates - not in the openlist
{
nodepointer++,
neighborIdx = nodepointer;
nodeMap.set(neighbor,neighborIdx);
nodes.push_back(neighbor);
cameFrom.push_back(currentIdx);
gScore.push_back(tentativeScore);
cout << "\r" << nodepointer+1 << " Blocks of maximal " <<gridElements<< " calculated";
//add to openlist
openSet.push(tentativeScore + getHeuristicCost(neighbor, goal),neighborIdx);
}
else if (tentativeScore < gScore[neighborIdx]) //new value is better than old one
{
nodes[neighborIdx] = neighbor;
cameFrom[neighborIdx] = currentIdx;
gScore[neighborIdx] = tentativeScore;
//update value in openlist
openSet.push(tentativeScore + getHeuristicCost(neighbor, goal),neighborIdx);
}
}
}
cout << "\r" << nodepointer+1 << " Blocks of maximal " <<gridElements<< " calculated\n";
LOG_totalBlocks = gridElements;
LOG_calcBlocks = nodepointer+1;
////////////////////////////////////////////////////////////////////////////
//Backtrack
vector<point> path = backtrack();
return path;
};
