/* int Dstar::computeShortestPath()
* --------------------------
* As per [S. Koenig, 2002] except for 2 main modifications:
* 1. We stop planning after a number of steps, 'maxsteps' we do this
* because this algorithm can plan forever if the start is
* surrounded by obstacles.
* 2. We lazily remove states from the open list so we never have to
* iterate through it.
*/
int Dstar::computeShortestPath() {
list<state> s;
list<state>::iterator i;
if (openList.empty()) return 1;
int k=0;
while ((!openList.empty()) &&
(openList.top() < (s_start = calculateKey(s_start))) ||
(getRHS(s_start) != getG(s_start))) {
if (k++ > maxSteps) {
fprintf(stderr, "At maxsteps\n");
return -1;
}
state u;
bool test = (getRHS(s_start) != getG(s_start));
// lazy remove
while(1) {
if (openList.empty()) return 1;
u = openList.top();
openList.pop();
if (!isValid(u)) continue;
if (!(u < s_start) && (!test)) return 2;
break;
}
ds_oh::iterator cur = openHash.find(u);
openHash.erase(cur);
state k_old = u;
if (k_old < calculateKey(u)) { // u is out of date
insert(u);
} else if (getG(u) > getRHS(u)) { // needs update (got better)
setG(u,getRHS(u));
getPred(u,s);
for (i=s.begin();i != s.end(); i++) {
updateVertex(*i);
}
} else { // g <= rhs, state has got worse
setG(u,INFINITY);
getPred(u,s);
for (i=s.begin();i != s.end(); i++) {
updateVertex(*i);
}
updateVertex(u);
}
}
return 0;
}
/* int Dstar::computeShortestPath()
* --------------------------
* As per [S. Koenig, 2002] except for 2 main modifications:
* 1. We stop planning after a number of steps, 'maxsteps' we do this
* because this algorithm can plan forever if the start is
* surrounded by obstacles.
* 2. We lazily remove states from the open list so we never have to
* iterate through it.
*/
int Dstar::computeShortestPath() {
list<state> s;
list<state>::iterator i;
if (openList.empty()) return 1;
int k=0;
while ((!openList.empty()) &&
(openList.top() < (calculateKey(s_start))) ||
(!isConsistent(s_start))) {
if (k++ > maxSteps) {
fprintf(stderr, "At maxsteps\n");
return -1;
}
state u;
// check consistency (one of the loop conditions)
bool test = isConsistent(s_start);
//(getRHS(s_start) != getG(s_start));
// lazy remove
while(1) {
if (openList.empty()) return 1; // checks outer loop condition #1
u = openList.top();
if (!queuePop()) continue;
if (!(u < s_start) && test) return 2; // checks outer loop conditions #2,3 still hold
break;
}
state k_old = u;
if (k_old < calculateKey(u)) { // u is out of date
insert(u); // u has been removed already, reinsert into pq with new key
} else if (getG(u) > getRHS(u)) { // needs update (got better)
setG(u,getRHS(u));
getPred(u,s);
for (i=s.begin();i != s.end(); i++) {
updateVertex(*i);
}
} else { // g <= rhs, state has got worse
setG(u,INFINITY);
getPred(u,s);
for (i=s.begin();i != s.end(); i++) {
updateVertex(*i);
}
updateVertex(u);
}
}
return 0;
}
void Nodo::elimHijo(int cont){
Index* key = llaves[cont];
if (hijos[cont]->cant_Key >= Orden){
Index*pred = getPred(cont);
llaves[cont] = pred;
hijos[cont]->eliminar(pred);
}else if(hijos[cont+1]->cant_Key >= Orden){
Index* succ = getSucc(cont);
llaves[cont] = succ;
hijos[cont+1]->eliminar(succ);
}
else{
merge(cont);
hijos[cont]->eliminar(key);
}
return;
}
bool Icc_parser::parseFromStream(std::istream &is)
{
int strnum = 0;
bool isContextFound = false;
BBlock * tbb = 0;
string fnname;
BBlock * zeroBlock = 0;
int zeroBlockStr;
//dump_info.addFunction();
while ( !is.eof())
{
string current;
int tmp;
getline( is, current);
strnum++;
if ( ( tmp = bbNum( current)) != -1)
{
if ( tmp == 0) //Handling zero blocks for detecting function names
{
zeroBlock = new BBlock( strnum);
zeroBlockStr = strnum;
tbb = zeroBlock;
}
else
tbb = dump_info.addBBlock( tmp, strnum, fnname);
isContextFound = false;
while ( !getPred( current, *tbb))
{
getline( is, current);
strnum++;
}
while ( !getSucc( current, *tbb))
{
getline( is, current);
strnum++;
}
continue;
}
if ( isRootContext( current))
isContextFound = false;
if ( isContextFound)
{
if ( !tbb)
throw exNotFound( -1);
string t;
if ( ( t = isFnName(current))!= "" && zeroBlock)
{
fnname = t;
dump_info.addFunction( fnname);
tbb = dump_info.addBBlock( 0, zeroBlockStr, fnname, tbb);
delete zeroBlock;
zeroBlock = 0;
}
tbb->addText( current, strnum);
}
isContextFound |= isContext( current);
}
return true;
}
