/*private*/
bool
LineIntersector::isInSegmentEnvelopes(const Coordinate& intPt) const
{
Envelope env0(*inputLines[0][0], *inputLines[0][1]);
Envelope env1(*inputLines[1][0], *inputLines[1][1]);
return env0.contains(intPt) && env1.contains(intPt);
}
void runProblemSet2(char *problems, int multiplier)
{
Map *map = new Map(gDefaultMap);
map->Scale(512, 512);
msa = new MapSectorAbstraction(map, 8, multiplier);
Graph *g = msa->GetAbstractGraph(1);
GraphAbstractionHeuristic gah1(msa, 1);
GraphDistanceHeuristic localGDH(g);
localGDH.SetPlacement(kAvoidPlacement);
for (unsigned int x = 0; x < 10; x++)
localGDH.AddHeuristic();
GraphHeuristicContainer ghc(g);
GraphRefinementEnvironment env1(msa, 1, &localGDH);
GraphRefinementEnvironment env2(msa, 1, 0);
// ghc.AddHeuristic(&localGDH);
// ghc.AddHeuristic(&gah1);
env1.SetDirected(false);
FILE *f = fopen(problems, "r");
if (f == 0)
{
printf("Cannot open file: '%s'\n", problems);
exit(0);
}
Timer t;
printf("len\tnodes\ttoucht\tlen\ttime\tdiff_n\tdiff_t\tdiff_l\ttime\n");
while (!feof(f))
{
int from, to, cost;
if (fscanf(f, "%d\t%d\t%d\n", &from, &to, &cost) != 3)
break;
node *s1 = g->GetNode(from);
node *g1 = g->GetNode(to);
graphState gs, gg;
gs = s1->GetNum();
gg = g1->GetNum();
std::vector<graphState> thePath;
t.StartTimer();
astar.GetPath(&env2, gs, gg, thePath);
t.EndTimer();
printf("%d\t", cost);
printf("%llu\t%llu\t%1.2f\t%e\t",
astar.GetNodesExpanded(), astar.GetNodesTouched(),
env1.GetPathLength(thePath), t.GetElapsedTime());
t.StartTimer();
astar.GetPath(&env1, gs, gg, thePath);
t.EndTimer();
printf("%llu\t%llu\t%1.2f\t%e",
astar.GetNodesExpanded(), astar.GetNodesTouched(),
env1.GetPathLength(thePath), t.GetElapsedTime());
printf("\n");
}
fclose(f);
exit(0);
}
void test_vector_ifft() {
logMsg("playing IFFT crossfade...");
IFFT vox1, vox2;
vox1.set_bin_mag_phase(2, 0.25, 0);
vox1.set_bin_mag_phase(4, 0.25, 0);
vox2.set_bin_mag_phase(6, 0.25, 0);
vox2.set_bin_mag_phase(8, 0.25, 0);
LineSegment env1(3, 1, 0); // fade out
LineSegment env2(3, 0, 1); // fade in
MulOp mul1(vox1, env1);
MulOp mul2(vox2, env2);
AddOp add3(mul1, mul2);
run_test(add3);
logMsg("IFFT crossfade done.");
}
void runProblemSet(char *problems, int multiplier)
{
Map *map = new Map(gDefaultMap);
map->Scale(512, 512);
msa = new MapSectorAbstraction(map, 8, multiplier);
Graph *g = msa->GetAbstractGraph(1);
GraphAbstractionHeuristic gah2(msa, 2);
GraphAbstractionHeuristic gah1(msa, 1);
GraphRefinementEnvironment env2(msa, 2, &gah2);
GraphRefinementEnvironment env1(msa, 1, &gah1);
env1.SetDirected(false);
env2.SetDirected(false);
FILE *f = fopen(problems, "r");
if (f == 0)
{
printf("Cannot open file: '%s'\n", problems);
exit(0);
}
printf("len\tlvl2n\tlvl2nt\tlvl2len\tlvl2tim\tlvl1nf\tlvl1ntf\tlvl1tn\tlvl1tt\tlvl1len_f\ttot\ttott\ttot_len\n");
Timer t;
while (!feof(f))
{
int from, to, cost;
if (fscanf(f, "%d\t%d\t%d\n", &from, &to, &cost) != 3)
break;
node *s1 = g->GetNode(from);
node *g1 = g->GetNode(to);
node *s2 = msa->GetParent(s1);
node *g2 = msa->GetParent(g1);
uint64_t nodesExpanded = 0;
uint64_t nodesTouched = 0;
double totalTime = 0;
// printf("Searching from %d to %d in level 1; %d to %d in level 2\n",
// s1->GetNum(), g1->GetNum(), s2->GetNum(), g2->GetNum());
graphState gs1, gs2;
gs1 = s2->GetNum();
gs2 = g2->GetNum();
std::vector<graphState> thePath;
std::vector<graphState> abstractPath;
t.StartTimer();
astar.GetPath(&env2, gs1, gs2, abstractPath);
totalTime = t.EndTimer();
printf("%d\t", cost);
printf("%llu\t%llu\t%1.2f\t%f\t", astar.GetNodesExpanded(), astar.GetNodesTouched(), env2.GetPathLength(abstractPath), totalTime);
if (abstractPath.size() == 0)
{
printf("%llu\t%llu\t%llu\t%llu\t%1.2f\t%f\t", (uint64_t)0, (uint64_t)0, astar.GetNodesExpanded(), astar.GetNodesTouched(), 0.0, 0.0);
printf("%llu\t%llu\t%1.2f\t%f\t%d\t%d\n", astar.GetNodesExpanded(), astar.GetNodesTouched(), 0.0, 0.0, 0, 0);
// printf("\n");
continue;
}
nodesExpanded += astar.GetNodesExpanded();
nodesTouched += astar.GetNodesTouched();
env1.SetPlanningCorridor(abstractPath, 2);
gs1 = s1->GetNum();
gs2 = g1->GetNum();
t.StartTimer();
astar.GetPath(&env1, gs1, gs2, thePath);
t.EndTimer();
printf("%llu\t%llu\t%llu\t%llu\t%1.2f\t%f\t",
astar.GetNodesExpanded(), astar.GetNodesTouched(),
astar.GetNodesExpanded()+nodesExpanded, astar.GetNodesTouched()+nodesTouched,
env1.GetPathLength(thePath), totalTime+t.GetElapsedTime());
int abstractStart = 0;
gs1 = s1->GetNum();
double totalLength = 0;
int refineAmt = 2;
int refinedPathNodes = 0;
do { // not working yet -- fully check!
env1.SetPlanningCorridor(abstractPath, 2, abstractStart);
gs2 = g1->GetNum();
if (abstractPath.size()-abstractStart > refineAmt)
{
env1.SetUseAbstractGoal(true, 2);
gs2 = abstractPath[abstractStart+refineAmt];
}
else {
env1.SetUseAbstractGoal(false, 0);
}
t.StartTimer();
astar.GetPath(&env1, gs1, gs2, thePath);
t.EndTimer();
refinedPathNodes += thePath.size();
totalTime+=t.GetElapsedTime();
abstractStart += refineAmt;
gs1 = thePath.back();
nodesExpanded += astar.GetNodesExpanded();
nodesTouched += astar.GetNodesTouched();
totalLength += env1.GetPathLength(thePath);
if (thePath.back() == gs2)
break;
} while (thePath.back() != g1->GetNum());
// printf("%llu\t%llu\t%1.2f\t", astar.GetNodesExpanded(), astar.GetNodesTouched(), env1.GetPathLength(thePath));
thePath.resize(0);
printf("%llu\t%llu\t%1.2f\t%f\t%d\t%d\n", nodesExpanded, nodesTouched, totalLength, totalTime, abstractPath.size(), refinedPathNodes);
// gs1 = s1->GetNum();
// gs2 = g1->GetNum();
// env1.SetPlanningCorridor(abstractPath, 2);
// astar.GetPath(&env1, gs1, gs2, thePath);
// printf("%llu\t%1.2f\n", astar.GetNodesExpanded(), env1.GetPathLength(thePath));
}
fclose(f);
exit(0);
}
