struct t_rooms *find_path(struct t_datas *datas, struct t_rooms *room)
{
if (room->seen == 0 && find_neighbours(room, datas->tubes))
return (find_path(datas, find_neighbours(room, datas->tubes)));
else
return (room);
}
static struct t_rooms *find_neighbours(struct t_rooms *room, struct t_tubes *tubes)
{
if (tubes != NULL)
{
if (!ft_strcmp(tubes->start, room->name))
return (find_room(tubes->end, room));
else if (!ft_strcmp(tubes->end, room->name))
return (find_room(tubes->start, room));
else
return (find_neighbours(room, tubes->next));
}
return (NULL);
}
bool frontier_detector::is_frontier( const point_xy_t &p, //{{{
size_t height, size_t width,
const gdal::raster& data ) {
// NB: Remember that index = x + y * width
// A point is a frontier iff it is in the open space
// (i.e. it is know and is not an obstacle )
if ( data[ map.idx( p )] < 0 // unknown
|| data[ map.idx( p )] == HUGE_VALF ) // obstacle
return false ;
// and at least one of is neighbour is unknown.
for ( auto i : find_neighbours( p, height, width) )
if ( data[ map.idx( i ) ] < 0 ) // unknown
return true ;
return false;
}//}}}
void
qxl_free (struct qxl_mem *mem, void *d)
{
struct block *b = d - sizeof (unsigned long);
struct block *before, *after;
mem->total_freed += b->n_bytes;
mem->n_freed_blocks++;
#if 0
printf ("freeing %p (%d bytes)\n", b, b->n_bytes);
qxl_mem_dump_stats (mem, "before free");
#endif
find_neighbours (mem, (void *)b, &before, &after);
if (before)
{
#if 0
printf (" free: merge before: %p\n", before->u.used.data);
#endif
if ((void *)before + before->n_bytes == b)
{
#if 0
printf (" free: merge with before (adding %d bytes)\n", b->n_bytes);
#endif
/* Merge before and b */
before->n_bytes += b->n_bytes;
b = before;
}
else
{
#if 0
printf (" free: no merge with before\n");
#endif
if (b == (void *)0xffffffffffffffff)
abort();
before->u.unused.next = b;
}
}
else
{
#if 0
printf (" free: no before\n");
#endif
mem->unused = b;
}
if (after)
{
if (after == (void *)0xffffffffffffffff)
abort();
#if 0
printf (" free: after: %p\n", after->u.used.data);
#endif
if ((void *)b + b->n_bytes == after)
{
#if 0
printf (" merge with after\n");
#endif
b->n_bytes += after->n_bytes;
b->u.unused.next = after->u.unused.next;
}
else
{
#if 0
printf (" no merge with after\n");
#endif
b->u.unused.next = after;
}
}
else
{
#if 0
printf (" free: no after\n");
#endif
b->u.unused.next = NULL;
}
#if 0
qxl_mem_dump_stats (mem, "after free");
#endif
sanity_check (mem);
}
long cell_energy(long n) // Sum the interaction energy attributable to cell n
{
find_neighbours(n);
return -1 *(lattice[n] - 1) * sum_neighbours();
}
/* computing functions */
void frontier_detector::compute_frontiers_WFD(const point_xy_t &seed) {//{{{
// Get size of the map
size_t width, height;
width = map.get_width();
height = map.get_height();
// Get the raster band
const gdal::raster& data = map.get_weight_band() ;
// check conditions on seed :
// - inside the map
assert( seed[0] > 0 && seed[0] < (width-1) && seed[1] > 0 && seed[1] < (height-1) );
// - within the known area and not an obstacle
assert( data[ map.idx( seed ) ] > 0 && data[ map.idx( seed ) ] != HUGE_VALF );
/* {{{ compute frontiers with the WFD algorithm
*
* Use the description given by :
* "Robot Exploration with Fast Frontier Detection : Theory and
* Experiments", M. Keidar afd G. A. Kaminka (AAMAS 2012)
*
*/
// Requested containers
// queues
std::deque< point_xy_t > mQueue ; // std::queue are restricted std::deque
std::deque< point_xy_t > fQueue ; // std::queue are restricted std::deque
// markers lists
std::vector< bool > mapOpenList (height*width, false) ;
std::vector< bool > mapCloseList (height*width, false) ;
std::vector< bool > frontierOpenList (height*width, false) ;
std::vector< bool > frontierCloseList (height*width, false) ;
// points
point_xy_t p,q ;
//init
frontiers.empty(); // clear the previous frontiers
mQueue.push_back( seed );
mapOpenList[ map.idx( seed )] = true ;
int c1 = 0;
// Main while over queued map points
while ( !mQueue.empty() ) {
p = mQueue.front();
mQueue.pop_front();
// if p has already been visited, then continue
if ( mapCloseList[ map.idx( p )] ) {
continue ;
}
// else, if p is a frontier point,
// compute the whole related frontier
if ( is_frontier( p, height, width, data ) ) {
int c2 = 0 ;
fQueue.clear();
// create a new frontier
frontiers.push_back( points_t() );
fQueue.push_back( p );
frontierOpenList[ map.idx( p )] = true ;
// while over potential frontier points
while ( !fQueue.empty() ) {
q = fQueue.front();
fQueue.pop_front();
// if q has already been visited, then continue
if ( mapCloseList[ map.idx( q ) ]
|| frontierCloseList[ map.idx( q ) ]) {
continue;
}
// if p is a frontier point,
// deal with it and its neighbours
if ( is_frontier( q, height, width, data ) ) {
frontiers.back().push_back( q );
//for all neighbours of q
for ( auto i : find_neighbours( q, height, width) ) {
// if NOT marked yet
if ( !( mapCloseList[ map.idx( i ) ]
|| frontierCloseList[ map.idx( i ) ]
|| frontierOpenList[ map.idx( i ) ])) {
// then proceed
fQueue.push_back( i );
frontierOpenList[ map.idx( i )] = true ;
}
}
}
// mark q
frontierCloseList[ map.idx( q )] = true ;
}
// Note : no need to save the new frontier explicitly
// mark all points of the new frontier in the closed list
for ( auto i : frontiers.back() ) {
mapCloseList[ map.idx( i )] = true ;
}
}
//for all neighbours of p
for ( auto i : find_neighbours( p, height, width) ) {
// if NOT marked yet
if ( !( mapCloseList[ map.idx( i ) ]
|| mapOpenList[ map.idx( i ) ])
// and has at least one neighbour in "Open Space", ie a
// neighbour in the known area ard which is not an obstacle.
&& ( ! (data[ map.idx( i )] < 0 // unknown
|| data[ map.idx( i )] == HUGE_VALF ))) { // obstacle
// then proceed
mQueue.push_back( i );
mapOpenList[ map.idx( i )] = true ;
}
}
//mark p
mapCloseList[ map.idx( p )] = true ;
}
//}}}
}//}}}
