/**
* @param x1 the actual "from" x coordinate (in respect to the "dense grid")
* @param y1 the actual "from" y coordinate (ditto)
* @param x2 the actual "to" x coordinate (ditto)
* @param y2 the actual "to" y coordinate (ditto)
* @return the list of edges representing the shortest path from P1 to P2
*/
public List<WeightedEdge> getShortestPath(int x1, int y1, int x2, int y2) {
// int x1 = 158, y1 = 109, x2 = 108, y2 = 489;
int row1 = y1 / unitH, col1 = x1 / unitW, row2 = y2 / unitH, col2 = x2 / unitW;
DijkstraShortestPath d =
new DijkstraShortestPath(g, cellContainer[row1][col1], cellContainer[row2][col2]);
return d.getPathEdgeList();
}
/**
* @return shortest path between two connected spot, using Dijkstra's algorithm. The edge weights,
* if any, are ignored here, meaning that the returned path is the shortest in terms of number
* of edges.
* <p>Return <code>null</code> if the two spots are not connected by a track, or if one of the
* spot do not belong to the graph, or if the {@link #graph} field is <code>null</code>.
* @param source the spot to start the path with
* @param target the spot to stop the path with
*/
public List<DefaultWeightedEdge> dijkstraShortestPath(final Spot source, final Spot target) {
if (null == graph) {
return null;
}
final AsUnweightedGraph<Spot, DefaultWeightedEdge> unWeightedGrah =
new AsUnweightedGraph<Spot, DefaultWeightedEdge>(graph);
final DijkstraShortestPath<Spot, DefaultWeightedEdge> pathFinder =
new DijkstraShortestPath<Spot, DefaultWeightedEdge>(unWeightedGrah, source, target);
final List<DefaultWeightedEdge> path = pathFinder.getPathEdgeList();
return path;
}
/**
* Apply selected routing algorithm to the graph.
*
* @param nodes Nodes used to calculate path.
* @param algorithm Algorithm used to compute the path,
* RoutingGraph.Algorithm.ROUTING_ALG_DIJKSTRA or
* RoutingGraph.Algorithm.ROUTING_ALG_BELLMANFORD
* @return new path.
*/
public List<OsmEdge> applyAlgorithm(List<Node> nodes, Algorithm algorithm) {
List<OsmEdge> path = new ArrayList<>();
Graph<Node, OsmEdge> g;
double totalWeight = 0;
RoutingLayer layer = (RoutingLayer) Main.map.mapView.getActiveLayer();
RoutingModel routingModel = layer.getRoutingModel();
if (graph == null || routingModel.getOnewayChanged()) this.createGraph();
logger.debug("apply algorithm between nodes ");
for (Node node : nodes) {
logger.debug(node.getId());
}
logger.debug("-----------------------------------");
// Assign the graph to g
g = graph;
switch (algorithm) {
case ROUTING_ALG_DIJKSTRA:
logger.debug("Using Dijkstra algorithm");
DijkstraShortestPath<Node, OsmEdge> routingk = null;
for (int index = 1; index < nodes.size(); ++index) {
routingk = new DijkstraShortestPath<>(g, nodes.get(index - 1), nodes.get(index));
if (routingk.getPathEdgeList() == null) {
logger.debug("no path found!");
break;
}
path.addAll(routingk.getPathEdgeList());
totalWeight += routingk.getPathLength();
}
break;
case ROUTING_ALG_BELLMANFORD:
logger.debug("Using Bellman Ford algorithm");
for (int index = 1; index < nodes.size(); ++index) {
path =
BellmanFordShortestPath.findPathBetween(
rgDelegator, nodes.get(index - 1), nodes.get(index));
if (path == null) {
logger.debug("no path found!");
return null;
}
}
break;
default:
logger.debug("Wrong algorithm");
break;
}
logger.debug("shortest path found: " + path + "\nweight: " + totalWeight);
return path;
}
public List<Graph> getAllNodeCoverage() {
Node initial = getInitialState();
Set<Node> toVisit = new HashSet<>(nodes);
toVisit.remove(initial);
Set<Node> left = new HashSet<>(nodes);
left.remove(initial);
List<Graph> toReturn = new ArrayList<>();
for (Node visiting : toVisit) {
if (left.contains(visiting)) {
DijkstraShortestPath<Node, Edge> pathFinder =
new DijkstraShortestPath<>(myGraph, initial, visiting);
List<Edge> path = pathFinder.getPathEdgeList();
for (Edge e : path) {
left.remove(e.getDest());
}
toReturn.add(buildGraph(path));
}
}
return toReturn;
}
private WeightedMultigraph<Vertex, LabeledWeightedEdge> step3(
WeightedMultigraph<Vertex, LabeledWeightedEdge> g2) {
logger.debug("<enter");
WeightedMultigraph<Vertex, LabeledWeightedEdge> g3 =
new WeightedMultigraph<Vertex, LabeledWeightedEdge>(LabeledWeightedEdge.class);
Set<LabeledWeightedEdge> edges = g2.edgeSet();
DijkstraShortestPath<Vertex, LabeledWeightedEdge> path;
Vertex source, target;
for (LabeledWeightedEdge edge : edges) {
source = edge.getSource();
target = edge.getTarget();
path = new DijkstraShortestPath<Vertex, LabeledWeightedEdge>(this.graph, source, target);
List<LabeledWeightedEdge> pathEdges = path.getPathEdgeList();
if (pathEdges == null) continue;
for (int i = 0; i < pathEdges.size(); i++) {
if (g3.edgeSet().contains(pathEdges.get(i))) continue;
source = pathEdges.get(i).getSource();
target = pathEdges.get(i).getTarget();
if (!g3.vertexSet().contains(source)) g3.addVertex(source);
if (!g3.vertexSet().contains(target)) g3.addVertex(target);
g3.addEdge(source, target, pathEdges.get(i));
}
}
logger.debug("exit>");
return g3;
}
public Queue<Vector2> getPathToPoint(Vector2 origin, Vector2 destination) {
LinkedList<Vector2> steps = new LinkedList<Vector2>();
Vector2 originRounded = getClosestNode(Math.round(origin.x), Math.round(origin.y));
Vector2 destinationRounded =
getClosestNode(Math.round(destination.x), Math.round(destination.y));
try {
List<DefaultWeightedEdge> list =
DijkstraShortestPath.findPathBetween(movementGraph, originRounded, destinationRounded);
for (DefaultWeightedEdge edge : list) steps.add(movementGraph.getEdgeSource(edge));
steps.add(movementGraph.getEdgeTarget(list.get(list.size() - 1)));
} catch (Exception e) {
logger.warning(
"Error pathfinding for origin="
+ originRounded
+ " destination="
+ destinationRounded
+ " with message: "
+ e.getMessage());
}
return steps;
}
