vector<vector<string>> Solution::findLadders(string start, string end, unordered_set<string> &dict)
{
unordered_map<string, vector<vector<string>>> set1, set2, *set_cur, *set_target;
vector<vector<string>> vec_start(1, vector<string>(1, start)), vec_end(1, vector<string>(1, end));
//two-end BFS to effectively prune, BFS strategy will get the smaller set to traverse in each iteration
set1[start] = vec_start;
set2[end] = vec_end;
int K = start.size();
bool isUpdated = true, isFinished = false;
vector<vector<string>> res;
for(int depth = 2; isUpdated && !isFinished; ++depth) {
if(set1.size() > set2.size()) {
set_cur = &set2;
set_target = &set1;
}
else {
set_cur = &set1;
set_target = &set2;
}
unordered_map<string, vector<vector<string>>> inter_set;
isUpdated = false;
unordered_set<string> deleting;
for(auto iteri=set_cur->cbegin(), end = set_cur->cend(); iteri!=end; ++iteri) {
for(int i=0; i<K; ++i) {
string temp = (*iteri).first;
char ch = 'a';
for(int c = 0; c<26; ++c) {
temp[i] = ch + c;
if(set_target->find(temp) != set_target->end()) {
const vector<vector<string>> *new_paths_first = &(*iteri).second;
const vector<vector<string>> *new_paths_second = &(*set_target)[temp];
auto iter_in = set_cur->cbegin();
if(((*iter_in).second)[0][0] != start) {
new_paths_first = &(*set_target)[temp];
new_paths_second = &(*iteri).second;
}
for_each(new_paths_first->cbegin(), new_paths_first->end(), [&] (const vector<string> &first_path) {
for_each(new_paths_second->cbegin(), new_paths_second->cend(), [&] (const vector<string> &second_path) {
vector<string> temp_path = first_path;
for_each(second_path.crbegin(), second_path.crend(), [&](const string &s) {
temp_path.push_back(s);
});
res.push_back(temp_path);
});
});
isFinished = true;
}
else if(dict.find(temp) != dict.end()) {
vector<vector<string>> new_paths = (*iteri).second;
for_each(new_paths.begin(), new_paths.end(), [&] (vector<string> &path) {
path.push_back(temp);
});
if(inter_set.find(temp) == inter_set.end())
inter_set[temp] = new_paths;
else {
for_each(new_paths.begin(), new_paths.end(), [&] (vector<string> &path) {
inter_set[temp].push_back(path);
});
}
deleting.insert(temp);
isUpdated = true;
}
}
}
}
for_each(deleting.begin(), deleting.end(), [&] (const string &s) {
dict.erase(s);
});
*set_cur = inter_set;
}
return res;
}
int main()
{
#ifdef _TEST1
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
//Print loaded data
robot.PrintHomogenTransformationMatrix();
robot.PrintFullTransformationMatrix();
//Rotating joint 1 for 90 degrees
robot.RotateJoint(DHINDEX(1),90.0f);
robot.PrintHomogenTransformationMatrix();
robot.PrintFullTransformationMatrix();
#endif
#ifdef _TEST2
CLine3D line;
Vector3f test2;
Vector3f vec_end(20,1,0);
Vector3f vec_start(1,2,3);
float displ = 0.01f;
test2 = line.GetNextPoint(vec_end,vec_start,displ);
while(true)
{
if (test2 == vec_end)
{
break;
}
std::cout<<test2<<std::endl;
test2 = line.GetNextPoint(vec_end,test2,displ);
}
std::cout<<test2<<std::endl;
#endif
#ifdef _TESTJACIBIANTRANSPOSE
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
CAlgoFactory factory;
VectorXf des(6);
float speccfc = 0.001f;
des << 200.0f ,200.0f ,0.0f ,0.0f ,0.0f ,0.0f ;
CAlgoAbstract * pJpt = factory.GiveMeSolver(JACOBIANTRANSPOSE,des,robot);
pJpt->SetAdditionalParametr(speccfc);
pJpt->CalculateData();
robot.PrintConfiguration();
#endif
#ifdef _TESTJACIBIANPSEUDO
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
CAlgoFactory factory;
VectorXf des(6);
float speccfc = 0.001f;
des << 200.0f , 200.0f , 0.0f , 0.0f , 0.0f , 0.0f ;
CAlgoAbstract * pJpt = factory.GiveMeSolver(JACOBIANPSEVDOINVERSE,des,robot);
pJpt->CalculateData();
robot.PrintConfiguration();
#endif
#ifdef _TESTDLS
std::string str = "robot.xml";
CConfigLoader cfg(str);
if(!cfg.LoadXml()) return 1;
//Set origin at O_zero
CRobot robot(Vector3f(0.0f,0.0f,0.0f));
robot.LoadConfig(cfg.GetTable());
CAlgoFactory factory;
VectorXf des(6);
float speccfc = 0.001f;
des << 200.0f , 200.0f , 0.0f , 0.0f , 0.0f , 0.0f ;
CAlgoAbstract * pJpt = factory.GiveMeSolver(DUMPEDLEASTSQUARES,des,robot);
pJpt->SetAdditionalParametr(speccfc);
pJpt->CalculateData();
robot.PrintConfiguration();
#endif
return 0;
}
