size_t dedup_methods_helper(
const Scope& scope,
const std::vector<DexMethod*>& to_dedup,
std::vector<DexMethod*>& replacements,
boost::optional<std::unordered_map<DexMethod*, MethodOrderedSet>>&
new_to_old) {
if (to_dedup.size() <= 1) {
replacements = to_dedup;
return 0;
}
size_t dedup_count = 0;
auto grouped_methods = group_identical_methods(to_dedup);
std::unordered_map<DexMethod*, DexMethod*> duplicates_to_replacement;
for (auto& group : grouped_methods) {
auto replacement = *group.begin();
for (auto m : group) {
duplicates_to_replacement[m] = replacement;
// Update dedup map
if (new_to_old == boost::none) {
continue;
}
if (new_to_old->count(m) > 0) {
auto orig_old_list = new_to_old->at(m);
new_to_old->erase(m);
for (auto orig_old : orig_old_list) {
new_to_old.get()[replacement].insert(orig_old);
}
}
new_to_old.get()[replacement].insert(m);
}
if (new_to_old != boost::none) {
new_to_old.get()[replacement].insert(replacement);
}
replacements.push_back(replacement);
if (group.size() > 1) {
dedup_count += group.size() - 1;
TRACE(METH_DEDUP,
9,
"dedup: group %d replacement %s\n",
group.size(),
SHOW(replacement));
}
}
method_reference::update_call_refs_simple(scope, duplicates_to_replacement);
return dedup_count;
}
vector<CubicBezierControlPoints> RRTPlanner::generateCubicBezierPath(
const vector<Geometry2d::Point>& points,
const MotionConstraints& motionConstraints, Geometry2d::Point vi,
Geometry2d::Point vf, const boost::optional<vector<float>>& times) {
size_t length = points.size();
size_t curvesNum = length - 1;
vector<double> pointsX(length);
vector<double> pointsY(length);
vector<double> ks(length - 1);
vector<double> ks2(length - 1);
for (int i = 0; i < length; i++) {
pointsX[i] = points[i].x;
pointsY[i] = points[i].y;
}
const float startSpeed = vi.mag();
const float endSpeed = vf.mag();
if (times) {
assert(times->size() == points.size());
for (int i = 0; i < curvesNum; i++) {
ks[i] = 1.0 / (times->at(i + 1) - times->at(i));
ks2[i] = ks[i] * ks[i];
if (std::isnan(ks[i])) {
debugThrow(
"Something went wrong. Points are too close to each other "
"probably");
return vector<CubicBezierControlPoints>();
}
}
} else {
for (int i = 0; i < curvesNum; i++) {
ks[i] = 1.0 / (getTime(points, i + 1, motionConstraints, startSpeed,
endSpeed) -
getTime(points, i, motionConstraints, startSpeed,
endSpeed));
ks2[i] = ks[i] * ks[i];
if (std::isnan(ks[i])) {
debugThrow(
"Something went wrong. Points are too close to each other "
"probably");
return vector<CubicBezierControlPoints>();
}
}
}
VectorXd solutionX =
RRTPlanner::cubicBezierCalc(vi.x, vf.x, pointsX, ks, ks2);
VectorXd solutionY =
RRTPlanner::cubicBezierCalc(vi.y, vf.y, pointsY, ks, ks2);
vector<CubicBezierControlPoints> path;
for (int i = 0; i < curvesNum; i++) {
Point p0 = points[i];
Point p1 = Geometry2d::Point(solutionX(i * 2), solutionY(i * 2));
Point p2 =
Geometry2d::Point(solutionX(i * 2 + 1), solutionY(i * 2 + 1));
Point p3 = points[i + 1];
path.emplace_back(p0, p1, p2, p3);
}
return path;
}