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jp_search.cpp
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jp_search.cpp
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#include "jp_search.h"
JP_Search::~JP_Search()
{
}
void JP_Search::findJP(int move_i, int move_j, Node curNode, const Map &map, std::list<Node> &successors, const EnvironmentOptions &options)
{
bool findOK = false;
while(!findOK) {
if(map.CellOnGrid(curNode.i + move_i, curNode.j + move_j)) {
if(!options.cutcorners) {
if(move_i != 0 && move_j != 0)
if(!map.CellIsTraversable(curNode.i, curNode.j + move_j) || !map.CellIsTraversable(curNode.i + move_i, curNode.j))
return;
}
else if(!options.allowsqueeze) {
if(move_i != 0 && move_j != 0)
if(!map.CellIsTraversable(curNode.i, curNode.j + move_j) && !map.CellIsTraversable(curNode.i + move_i, curNode.j))
return;
}
if(map.CellIsTraversable(curNode.i + move_i, curNode.j + move_j)) {
curNode.i += move_i;
curNode.j += move_j;
if(move_i == 0 || move_j == 0)
curNode.g += 1;
else
curNode.g += sqrt(2);
}
else
return;
}
else
return;
if(map.goal_i == curNode.i && map.goal_j == curNode.j)
findOK = true;
if(options.allowdiagonal) { //check whether diagonal moves is allowed
if(options.cutcorners) {
if(move_i == 0) { //straight move along j
if(map.CellOnGrid(curNode.i + 1, curNode.j + move_j))
if(map.CellIsTraversable(curNode.i + 1, curNode.j + move_j) && map.CellIsObstacle(curNode.i + 1, curNode.j))
findOK = true;
if(map.CellOnGrid(curNode.i - 1,curNode.j + move_j))
if(map.CellIsTraversable(curNode.i - 1, curNode.j + move_j) && map.CellIsObstacle(curNode.i - 1, curNode.j))
findOK = true;
}
else if(move_j == 0) { //straight move along i
if(map.CellOnGrid(curNode.i + move_i, curNode.j + 1))
if(map.CellIsTraversable(curNode.i + move_i, curNode.j + 1) && map.CellIsObstacle(curNode.i, curNode.j + 1))
findOK = true;
if(map.CellOnGrid(curNode.i + move_i, curNode.j - 1))
if(map.CellIsTraversable(curNode.i + move_i, curNode.j - 1) && map.CellIsObstacle(curNode.i, curNode.j - 1))
findOK = true;
}
else { //diagonal move
if(map.CellOnGrid(curNode.i - move_i, curNode.j + move_j))
if(map.CellIsObstacle(curNode.i - move_i, curNode.j) && map.CellIsTraversable(curNode.i - move_i, curNode.j + move_j))
findOK = true;
if(!findOK && map.CellOnGrid(curNode.i + move_i, curNode.j - move_j))
if(map.CellIsObstacle(curNode.i, curNode.j - move_j) && map.CellIsTraversable(curNode.i + move_i, curNode.j - move_j))
findOK = true;
if(!findOK)
if(findNeighbors(move_i, 0, curNode, map, options))
findOK = true;
if(!findOK)
if(findNeighbors(0, move_j, curNode, map, options))
findOK = true;
}
}
else
{
if(move_i == 0) { //straight move along j
if(map.CellOnGrid(curNode.i + 1, curNode.j))
if(map.CellIsTraversable(curNode.i + 1, curNode.j) && map.CellIsObstacle(curNode.i + 1, curNode.j - move_j))//check forced neighbor
findOK = true;
if(map.CellOnGrid(curNode.i - 1,curNode.j))
if(map.CellIsTraversable(curNode.i - 1, curNode.j) && map.CellIsObstacle(curNode.i - 1, curNode.j - move_j))
findOK = true;
}
else if(move_j == 0) { //straight move along i
if(map.CellOnGrid(curNode.i, curNode.j + 1))
if(map.CellIsTraversable(curNode.i, curNode.j + 1) && map.CellIsObstacle(curNode.i - move_i, curNode.j + 1))
findOK = true;
if(map.CellOnGrid(curNode.i, curNode.j - 1))
if(map.CellIsTraversable(curNode.i, curNode.j - 1) && map.CellIsObstacle(curNode.i - move_i, curNode.j - 1))
findOK = true;
}
else { //diagonal move
if(findNeighbors(move_i, 0, curNode, map, options))//looking for forced neighbor along i
findOK = true;
if(!findOK)
if(findNeighbors(0, move_j, curNode, map, options))//looking for forced neighbor along j
findOK = true;
}
}
}
else { //only straight moves is allowed
if(!findOK)
if(findNeighbors(move_j, move_i, curNode, map, options))
findOK = true;
if(!findOK)
if(findNeighbors(-move_j, -move_i, curNode, map, options))
findOK = true;
}
}
if(close.find(curNode.i * map.width + curNode.j) == close.end())
successors.push_front(curNode);
return;
}
bool JP_Search::findNeighbors(int move_i, int move_j, Node curNode, const Map &map, const EnvironmentOptions &options)
{
while(map.CellOnGrid(curNode.i, curNode.j) && map.CellIsTraversable(curNode.i, curNode.j)) {
if(map.goal_i == curNode.i && map.goal_j == curNode.j)//goal location is found
return true;
if(options.cutcorners) {
if(move_i == 0 && map.CellOnGrid(curNode.i, curNode.j+move_j)) {
if(map.CellOnGrid(curNode.i + 1, curNode.j))
if(map.CellIsTraversable(curNode.i + 1, curNode.j+move_j) && map.CellIsObstacle(curNode.i + 1, curNode.j))
return true;
if(map.CellOnGrid(curNode.i - 1,curNode.j))
if(map.CellIsTraversable(curNode.i - 1, curNode.j+move_j) && map.CellIsObstacle(curNode.i - 1, curNode.j))
return true;
}
if(move_j == 0 && map.CellOnGrid(curNode.i + move_i, curNode.j)) {
if(map.CellOnGrid(curNode.i, curNode.j + 1))
if(map.CellIsTraversable(curNode.i + move_i, curNode.j + 1) && map.CellIsObstacle(curNode.i, curNode.j + 1))
return true;
if(map.CellOnGrid(curNode.i, curNode.j - 1))
if(map.CellIsTraversable(curNode.i + move_i, curNode.j - 1) && map.CellIsObstacle(curNode.i, curNode.j - 1))
return true;
}
}
else {
if(move_i == 0 && map.CellOnGrid(curNode.i, curNode.j - move_j)) {
if(map.CellOnGrid(curNode.i + 1, curNode.j))
if(map.CellIsTraversable(curNode.i + 1, curNode.j) && map.CellIsObstacle(curNode.i + 1, curNode.j - move_j))
return true;
if(map.CellOnGrid(curNode.i - 1,curNode.j))
if(map.CellIsTraversable(curNode.i - 1, curNode.j) && map.CellIsObstacle(curNode.i - 1, curNode.j - move_j))
return true;
}
if(move_j == 0 && map.CellOnGrid(curNode.i - move_i, curNode.j)) {
if(map.CellOnGrid(curNode.i, curNode.j + 1))
if(map.CellIsTraversable(curNode.i, curNode.j + 1) && map.CellIsObstacle(curNode.i - move_i, curNode.j + 1))
return true;
if(map.CellOnGrid(curNode.i, curNode.j - 1))
if(map.CellIsTraversable(curNode.i, curNode.j - 1) && map.CellIsObstacle(curNode.i - move_i, curNode.j - 1))
return true;
}
}
curNode.i += move_i;
curNode.j += move_j;
}
return false;
}
int JP_Search::findDirection(int current_i, int parent_i)
{
if(current_i < parent_i)
return -1;
else if(current_i > parent_i)
return 1;
else
return 0;
}
std::list<Node> JP_Search::findSuccessors(Node curNode, const Map &map, const EnvironmentOptions &options)
{
int move_i = 0, move_j = 0;
std::list<Node> successors;
if(options.allowdiagonal) {
if(curNode.i == map.start_i && curNode.j == map.start_j)//if curNode is the start location, then look for jump points in all directions
for(int n = -1; n <= 1; n++)
for(int m = -1; m <= 1; m++)
if(n != 0 || m != 0)
findJP(n, m, curNode, map, successors, options);
if(curNode.i != map.start_i || curNode.j != map.start_j) {
move_i = findDirection(curNode.i, curNode.parent->i);
move_j = findDirection(curNode.j, curNode.parent->j);
findJP(move_i, move_j, curNode, map, successors, options);//continue to look for jump points in the same direction
if(move_i != 0 && move_j != 0) { //if curNoode is a diagonal jump point
if(map.CellIsObstacle(curNode.i - move_i, curNode.j))
findJP(-move_i, move_j, curNode, map, successors, options);
if(map.CellIsObstacle(curNode.i, curNode.j - move_j))
findJP(move_i, -move_j, curNode, map, successors, options);
findJP(move_i, 0, curNode, map, successors, options);//look for jump point in straight direction along i
findJP(0, move_j, curNode, map, successors, options);//the same check along j
}
if(options.cutcorners) { //original JPS, when cutcorners is allowed
if(move_i == 0) {
if(map.CellOnGrid(curNode.i - move_j, curNode.j))
if(map.CellIsObstacle(curNode.i - move_j, curNode.j))
findJP(-move_j, move_j, curNode, map, successors, options);
if(map.CellOnGrid(curNode.i+move_j, curNode.j))
if(map.CellIsObstacle(curNode.i + move_j, curNode.j))
findJP(move_j, move_j, curNode, map, successors, options);
}
else if(move_j == 0) {
if(map.CellOnGrid(curNode.i, curNode.j - move_i))
if(map.CellIsObstacle(curNode.i, curNode.j - move_i))
findJP(move_i, -move_i, curNode, map, successors, options);
if(map.CellOnGrid(curNode.i, curNode.j + move_i))
if(map.CellIsObstacle(curNode.i, curNode.j + move_i))
findJP(move_i, move_i, curNode, map, successors, options);
}
}
else { //cutcorners disallowed
if(move_i == 0) {
if(map.CellOnGrid(curNode.i - move_j, curNode.j))
if(map.CellIsObstacle(curNode.i - move_j, curNode.j - move_j)) {
findJP(-move_j, move_j, curNode, map, successors, options);
findJP(-move_j, 0, curNode, map, successors, options);
}
if(map.CellOnGrid(curNode.i + move_j, curNode.j))
if(map.CellIsObstacle(curNode.i + move_j, curNode.j - move_j)) {
findJP(move_j, 0, curNode, map, successors, options);
findJP(move_j, move_j, curNode, map, successors, options);
}
}
else if(move_j == 0) {
if(map.CellOnGrid(curNode.i, curNode.j-move_i))
if(map.CellIsObstacle(curNode.i - move_i, curNode.j - move_i)) {
findJP(0, -move_i, curNode, map, successors, options);//additional check
findJP(move_i, -move_i, curNode, map, successors, options);
}
if(map.CellOnGrid(curNode.i, curNode.j + move_i))
if(map.CellIsObstacle(curNode.i - move_i, curNode.j + move_i)) {
findJP(0, move_i, curNode, map, successors, options);//additional check
findJP(move_i, move_i, curNode, map, successors, options);
}
}
}
}
}
else { //only straight moves as allowed
if(curNode.i == map.start_i && curNode.j == map.start_j)
for(int n = -1; n <= 1; n++)
for(int m = -1; m <= 1; m++)
if((n != 0 && m == 0) || (n == 0 && m != 0))
findJP(n, m, curNode, map, successors, options);
if(curNode.i != map.start_i || curNode.j != map.start_j) {
move_i = findDirection(curNode.i, curNode.parent->i);
move_j = findDirection(curNode.j, curNode.parent->j);
findJP(move_i, move_j, curNode, map, successors, options);
findJP(move_j, move_i, curNode, map, successors, options);
findJP(-move_j, -move_i, curNode, map, successors, options);
}
}
return successors;
}
void JP_Search::makePrimaryPath(Node curNode)
{
Node current = curNode;
while(current.parent) {
hppath.push_front(current);
current = *current.parent;
}
hppath.push_front(current);
}
void JP_Search::makeSecondaryPath()
{
Node pathNode = *hppath.begin();
std::list<Node>::iterator iter = hppath.begin();
iter++;
Node nextNode = *iter;
Node inpath;
lppath.push_back(pathNode);
while(iter != hppath.end()) {
int steps = std::max(std::abs(pathNode.i - nextNode.i), std::abs(pathNode.j - nextNode.j));
int step_i = (pathNode.i < nextNode.i) ? 1 : ((pathNode.i > nextNode.i) ? -1 : 0);
int step_j = (pathNode.j < nextNode.j) ? 1 : ((pathNode.j > nextNode.j) ? -1 : 0);
for (int k = 0; k <= steps; k++) {
inpath.i = pathNode.i + k*step_i;
inpath.j = pathNode.j + k*step_j;
lppath.push_back(inpath);
}
pathNode = nextNode;
iter++;
nextNode = *iter;
}
}