VoronoiExpansion::Index VoronoiExpansion::expandVoronoi(Index start, Index end, int cycles, int8_t *map,
int8_t *voronoi_map, float *distance_map, float *potential)
{
int cycle = 0;
Index current(start.i, potential[start.i], 0, potential[start.i]);
// clear the queue
clearpq(queue_);
queue_.push(current);
while (!queue_.empty() && cycle < cycles && !isEndpoint(current)) //&& !isInGoalZone(current.i)
{
if (queue_.empty())
return Index(-1, 0, 0, 0);
current = queue_.top();
queue_.pop();
// If we have found a max potential return the pixel
if (isEndpoint(current))
{
potential[current.i] = current.potential;
return current;
}
addExpansionCandidate(start, current, current.offsetDist(1, 0, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
addExpansionCandidate(start, current, current.offsetDist(0, 1, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
addExpansionCandidate(start, current, current.offsetDist(-1, 0, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
addExpansionCandidate(start, current, current.offsetDist(0, -1, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
addExpansionCandidate(start, current, current.offsetDist(1, 1, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
addExpansionCandidate(start, current, current.offsetDist(-1, 1, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
addExpansionCandidate(start, current, current.offsetDist(-1, -1, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
addExpansionCandidate(start, current, current.offsetDist(1, -1, nx_, ny_), end, map, voronoi_map, distance_map,
potential, true, false);
cycle++;
}
if (cycle >= cycles)
return Index(-1, -1, -1, -1);
else
return end;
}
void WebPathSegment::print(int ident)
{
cout << string(ident, '-') << getName() << (isEndpoint() ? " | " : "") << (isEndpoint() ? getContent() : "") << endl;
for_each(_segmentList.begin(), _segmentList.end(), [ident](auto pair) { pair.second->print(ident + 2); });
}
