136 lines
3.0 KiB
C++
136 lines
3.0 KiB
C++
//SearchNode.h
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//DJD: definition of the SearchNode class {
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#ifndef SEARCHNODE_H
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#define SEARCHNODE_H
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#include "se_dcdt.h"
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//class used to store a state in the search functions
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class SearchNode
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{
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protected:
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//the (minimum) distance travelled since the start node
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float m_dMinDistance;
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//the (admissible and consistent) estimate of the distance to the goal
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float m_dHeuristic;
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//the closest point in this triangle to the goal
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SrPnt2 m_CClosestPoint;
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//the triangle (face) associated with this node
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SeDcdtFace *m_CTriangle;
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//the parent search node of this one
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SearchNode *m_CBack;
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//the number of open children
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int m_nOpenChildren;
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//the direction taken from the last node to this one
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int m_nDirection;
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public:
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//constructor - initializes the member variables
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SearchNode(float dMinDistance, float dHeuristic, SrPnt2 CClosestPoint, SeDcdtFace *CTriangle, SearchNode *CBack, int nDirection = INVALID)
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{
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m_dMinDistance = dMinDistance;
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m_dHeuristic = dHeuristic;
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m_CClosestPoint.x = CClosestPoint.x;
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m_CClosestPoint.y = CClosestPoint.y;
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m_CTriangle = CTriangle;
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m_CBack = CBack;
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m_nOpenChildren = 0;
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m_nDirection = nDirection;
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}
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//returns the estimated minimum cost of a path from the start to the goal through this node
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float f()
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{
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return (m_dMinDistance + m_dHeuristic);
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}
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//returns the estimated minimum cost of a path from the start to this node
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float g()
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{
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return m_dMinDistance;
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}
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//returns the estimated minimum cost of a path from this node to the goal
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float h()
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{
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return m_dHeuristic;
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}
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//returns (a copy of) the closest point in this triangle to the goal
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SrPnt2 Point()
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{
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SrPnt2 temp;
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temp.x = m_CClosestPoint.x;
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temp.y = m_CClosestPoint.y;
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return temp;
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}
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//returns the triangle associated with this node
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SeDcdtFace *Triangle()
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{
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return m_CTriangle;
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}
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//returns the parent search node of this one
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SearchNode *Back()
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{
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return m_CBack;
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}
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//returns the direction taken from the last node to this one
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int Direction()
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{
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return m_nDirection;
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}
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//sets the number of open children
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void OpenChild()
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{
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m_nOpenChildren++;
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}
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//closes a child
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bool CloseChild()
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{
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return ((--m_nOpenChildren) <= 0);
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}
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//closes the current search node
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//(deleting its parent if it has no other open children)
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void Close()
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{
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if ((m_CBack != NULL) && m_CBack->CloseChild())
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{
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m_CBack->Close();
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delete m_CBack;
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m_CBack = NULL;
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}
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}
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//returns the number of open children this node has
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int OpenChildren()
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{
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return m_nOpenChildren;
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}
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//checks the ancestors of this node to see if a given triangle was already searched
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bool Searched(SeDcdtFace *triangle)
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{
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SearchNode *current = m_CBack;
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while (current != NULL)
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{
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if (current->Triangle() == triangle)
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{
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return true;
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}
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current = current->Back();
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}
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return false;
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}
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};
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#endif
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//definition of the SearchNode class }
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