void
OLCTriangle::AddFinishEdges(const ScanTaskPoint origin)
{
assert(IsFinal(origin.GetStageNumber() + 1));
if (predict) {
// dummy just to close the triangle
Link(ScanTaskPoint(origin.GetStageNumber() + 1, n_points - 1), origin, 0);
} else {
const ScanTaskPoint start = FindStart(origin);
const TracePoint &start_point = GetPoint(start);
const TracePoint &origin_point = GetPoint(origin);
const unsigned max_range =
trace_master.ProjectRange(origin_point.GetLocation(), max_distance);
/* check all remaining points, see which ones match the
conditions */
const ScanTaskPoint begin(origin.GetStageNumber() + 1, 0);
const ScanTaskPoint end(origin.GetStageNumber() + 1,
origin.GetPointIndex());
for (ScanTaskPoint i = begin; i != end; i.IncrementPointIndex())
if (CalcEdgeDistance(start, i) <= max_range &&
start_point.GetLocation().Distance(GetPoint(i).GetLocation()) < max_distance)
Link(i, origin, CalcEdgeDistance(origin, i));
}
}
void
ContestDijkstra::AddEdges(const ScanTaskPoint origin,
const unsigned first_point)
{
ScanTaskPoint destination(origin.GetStageNumber() + 1,
std::max(origin.GetPointIndex(), first_point));
const int min_altitude = IsFinal(destination)
? GetMinimumFinishAltitude(GetPoint(FindStart(origin)))
: 0;
if (IsFinal(destination) &&
first_finish_candidate > destination.GetPointIndex())
/* limit the number of finish candidates during incremental
search */
destination.SetPointIndex(first_finish_candidate);
const unsigned weight = GetStageWeight(origin.GetStageNumber());
bool previous_above = false;
for (const ScanTaskPoint end(destination.GetStageNumber(), n_points);
destination != end; destination.IncrementPointIndex()) {
bool above = GetPoint(destination).GetIntegerAltitude() >= min_altitude;
if (above) {
const unsigned d = weight * CalcEdgeDistance(origin, destination);
Link(destination, origin, d);
} else if (previous_above) {
/* After excessive thinning, the exact TracePoint that matches
the required altitude difference may be gone, and the
calculated result becomes overly pessimistic. This code path
makes it optimistic, by checking if the previous point
matches. */
/* TODO: interpolate the distance */
const unsigned d = weight * CalcEdgeDistance(origin, destination);
Link(destination, origin, d);
}
previous_above = above;
}
if (IsFinal(destination) && predicted.IsDefined()) {
const unsigned d = weight * GetPoint(origin).FlatDistanceTo(predicted);
destination.SetPointIndex(predicted_index);
Link(destination, origin, d);
}
}
void
ContestDijkstra::AddEdges(const ScanTaskPoint origin,
const unsigned first_point)
{
ScanTaskPoint destination(origin.GetStageNumber() + 1,
std::max(origin.GetPointIndex(), first_point));
const int min_altitude = IsFinal(destination)
? GetMinimumFinishAltitude(GetPoint(FindStart(origin)))
: 0;
if (IsFinal(destination) &&
first_finish_candidate > destination.GetPointIndex())
/* limit the number of finish candidates during incremental
search */
destination.SetPointIndex(first_finish_candidate);
const unsigned weight = GetStageWeight(origin.GetStageNumber());
for (const ScanTaskPoint end(destination.GetStageNumber(), n_points);
destination != end; destination.IncrementPointIndex()) {
if (GetPoint(destination).GetIntegerAltitude() >= min_altitude) {
const unsigned d = weight * CalcEdgeDistance(origin, destination);
Link(destination, origin, d);
}
}
}
void
OLCTriangle::AddEdges(const ScanTaskPoint origin)
{
assert(origin.GetPointIndex() < n_points);
switch (origin.GetStageNumber()) {
case 0:
// add points up to finish
for (ScanTaskPoint destination(origin.GetStageNumber() + 1, 0),
end(origin.GetStageNumber() + 1, origin.GetPointIndex());
destination != end; destination.IncrementPointIndex()) {
const unsigned d = CalcEdgeDistance(origin, destination);
if (!is_fai || 4 * d >= best_d)
/* no reason to add candidate if worse than 25% rule for FAI
tasks */
Link(destination, origin, GetStageWeight(origin.GetStageNumber()) * d);
}
break;
case 1: {
ScanTaskPoint previous = dijkstra.GetPredecessor(origin);
// give first leg points to penultimate node
TriangleSecondLeg sl(is_fai, GetPoint(previous), GetPoint(origin));
for (ScanTaskPoint destination(origin.GetStageNumber() + 1,
origin.GetPointIndex() + 1),
end(origin.GetStageNumber() + 1, n_points - 1);
destination != end; destination.IncrementPointIndex()) {
TriangleSecondLeg::Result result = sl.Calculate(GetPoint(destination),
best_d);
const unsigned d = result.leg_distance;
if (d > 0) {
best_d = result.total_distance;
Link(destination, origin, GetStageWeight(origin.GetStageNumber()) * d);
// we have an improved solution
is_complete = true;
// need to scan again whether path is closed
is_closed = false;
first_tp = origin.GetPointIndex();
}
}
}
break;
case 2:
// dummy just to close the triangle
Link(ScanTaskPoint(origin.GetStageNumber() + 1, n_points - 1), origin, 0);
break;
default:
assert(false);
}
}
void
OLCSprint::AddEdges(const ScanTaskPoint origin)
{
const ScanTaskPoint destination(origin.GetStageNumber() + 1, n_points - 1);
if (IsFinal(destination)) {
/* For final, only add last valid point */
const unsigned d = GetStageWeight(origin.GetStageNumber()) *
CalcEdgeDistance(origin, destination);
Link(destination, origin, d);
} else
ContestDijkstra::AddEdges(origin);
}
void
OLCTriangle::AddTurn1Edges(const ScanTaskPoint origin)
{
// add points up to finish
const ScanTaskPoint begin(origin.GetStageNumber() + 1, 0);
const ScanTaskPoint end(origin.GetStageNumber() + 1, origin.GetPointIndex());
for (ScanTaskPoint i = begin; i != end; i.IncrementPointIndex()) {
const unsigned d = CalcEdgeDistance(origin, i);
if (!is_fai || 4 * d >= best_d)
/* no reason to add candidate if worse than 25% rule for FAI
tasks */
Link(i, origin, GetStageWeight(origin.GetStageNumber()) * d);
}
}
