/**
* Find best predecessor found so far to the specified node
*
* @param n Node as destination to find best predecessor for
*
* @return Predecessor node
*/
gcc_pure
Node get_predecessor(const Node &node) const {
// Try to find the given node in the node_parent_map
edge_const_iterator it = edges.find(node);
if (it == edges.end())
// first entry
// If the node wasn't found
// -> Return the given node itself
return node;
else
// If the node was found
// -> Return the parent node
return it->second.parent;
}
/**
* Add node to search queue
*
* @param n Destination node to add
* @param pn Previous node
* @param e Edge distance (previous to this)
*/
void push(const Node &node, const Node &parent, unsigned edge_value = 0) {
// Try to find the given node n in the edge_map
edge_iterator it = edges.find(node);
if (it == edges.end())
// first entry
// If the node wasn't found
// -> Insert a new node
it = edges.insert(std::make_pair(node, Edge(parent, edge_value))).first;
else if (it->second.value > edge_value)
// If the node was found and the new value is smaller
// -> Replace the value with the new one
it->second = Edge(parent, edge_value);
else
// If the node was found but the new value is higher or equal
// -> Don't use this new leg
return;
q.push(Value(edge_value, it));
}