Merge branch 'feature/refactor-nn'

[hubacji1/iamcar.git] / base / nn.cc

diff --git a/base/nn.cc b/base/nn.cc
deleted file mode 100644 (file)
index 29a8206..0000000
--- a/base/nn.cc
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
-This file is part of I am car.
-
-I am car is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-I am car is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with I am car. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include <omp.h>
-#include <vector>
-#include "nn.h"
-#include "rrtbase.h"
-
-RRTNode *nn1(
-                std::vector<RRTNode *> &nodes,
-                RRTNode *node,
-                float (*cost)(RRTNode *, RRTNode *))
-{
-        RRTNode *root = nodes[0];
-        std::vector<RRTNode *> s; // DFS stack
-        std::vector<RRTNode *> r; // reset visited_
-        RRTNode *tmp;
-        RRTNode *nn = root;
-        float mcost = (*cost)(root, node);
-
-        s.push_back(root);
-        while (s.size() > 0) {
-                tmp = s.back();
-                s.pop_back();
-                if (!tmp->visit()) {
-                        r.push_back(tmp);
-                        if ((*cost)(tmp, node) < mcost) {
-                                nn = tmp;
-                                mcost = (*cost)(tmp, node);
-                        }
-                        for (auto ch: tmp->children()) {
-                                s.push_back(ch);
-                        }
-                }
-        }
-        for (auto n: r) {
-                n->visit(false);
-        }
-        return nn;
-}
-
-RRTNode *nn2(
-                std::vector<RRTNode *> &nodes,
-                RRTNode *node,
-                float (*cost)(RRTNode *, RRTNode *))
-{
-        RRTNode *nn = nodes[0];
-        float mcost = (*cost)(nn, node);
-        unsigned int i;
-        // TODO fix see, user-defined reductions
-        #pragma omp parallel for
-        for (i = 0; i < nodes.size(); i++) {
-                if ((*cost)(nodes[i], node) < mcost) {
-                        nn = nodes[i];
-                        mcost = (*cost)(nodes[i], node);
-                }
-        }
-        return nn;
-}
-
-RRTNode *nn3(
-                std::vector<RRTNode *> (&nodes)[IYSIZE],
-                RRTNode *node,
-                float (*cost)(RRTNode *, RRTNode *))
-{
-        int iy = IYI(node->y());
-        struct mcnn nn;
-        nn.nn = nullptr;
-        nn.mc = 9999;
-        unsigned int i = 0; // vector step
-        unsigned int j = 0; // array step
-        int iyj = 0;
-        while (nn.mc > j * IYSTEP) {
-                iyj = (int) (iy + j);
-                if (iyj >= IYSIZE)
-                        iyj = IYSIZE - 1;
-                #pragma omp parallel for reduction(minn: nn)
-                for (i = 0; i < nodes[iyj].size(); i++) {
-                        if ((*cost)(nodes[iyj][i], node) < nn.mc) {
-                                nn.mc = (*cost)(nodes[iyj][i], node);
-                                nn.nn = nodes[iyj][i];
-                        }
-                }
-                if (j > 0) {
-                        iyj = (int) (iy - j);
-                        if (iyj < 0)
-                                iyj = 0;
-                        #pragma omp parallel for reduction(minn: nn)
-                        for (i = 0; i < nodes[iyj].size(); i++) {
-                                if ((*cost)(nodes[iyj][i], node) < nn.mc) {
-                                        nn.mc = (*cost)(nodes[iyj][i], node);
-                                        nn.nn = nodes[iyj][i];
-                                }
-                        }
-                }
-                j++;
-        }
-        return nn.nn;
-}
-
-RRTNode *nn4(
-                std::vector<RRTNode *> (&nodes)[IYSIZE],
-                RRTNode *node,
-                float (*cost)(RRTNode *, RRTNode *))
-{
-        int iy = IYI(node->y());
-        struct mcnn nn;
-        nn.nn = nullptr;
-        nn.mc = 9999;
-        unsigned int i = 0; // vector step
-        unsigned int j = 0; // array step
-        int iyj = 0;
-        while (nn.mc > j * IYSTEP) {
-                iyj = (int) (iy + j);
-                if (iyj >= IYSIZE)
-                        iyj = IYSIZE - 1;
-                #pragma omp parallel for reduction(minn: nn)
-                for (i = 0; i < nodes[iyj].size(); i++) {
-                        if (EDIST(nodes[iyj][i], node) < nn.mc) {
-                                nn.mc = EDIST(nodes[iyj][i], node);
-                                nn.nn = nodes[iyj][i];
-                        }
-                }
-                if (j > 0) {
-                        iyj = (int) (iy - j);
-                        if (iyj < 0)
-                                iyj = 0;
-                        #pragma omp parallel for reduction(minn: nn)
-                        for (i = 0; i < nodes[iyj].size(); i++) {
-                                if (EDIST(nodes[iyj][i], node) < nn.mc) {
-                                        nn.mc = EDIST(nodes[iyj][i], node);
-                                        nn.nn = nodes[iyj][i];
-                                }
-                        }
-                }
-                j++;
-        }
-        return nn.nn;
-}
-
-RRTNode *nn5(
-                std::vector<RRTNode *> (&nodes)[IYSIZE],
-                RRTNode *node,
-                float (*cost)(RRTNode *, RRTNode *),
-                char tree)
-{
-        int iy = IYI(node->y());
-        struct mcnn nn;
-        nn.nn = nullptr;
-        nn.mc = 9999;
-        unsigned int i = 0; // vector step
-        unsigned int j = 0; // array step
-        int iyj = 0;
-        while (nn.mc > j * IYSTEP) {
-                iyj = (int) (iy + j);
-                if (iyj >= IYSIZE)
-                        iyj = IYSIZE - 1;
-                #pragma omp parallel for reduction(minn: nn)
-                for (i = 0; i < nodes[iyj].size(); i++) {
-                        if (EDIST(nodes[iyj][i], node) < nn.mc &&
-                                        tree != '0' &&
-                                        nodes[iyj][i]->tree() == tree) {
-                                nn.mc = EDIST(nodes[iyj][i], node);
-                                nn.nn = nodes[iyj][i];
-                        }
-                }
-                if (j > 0) {
-                        iyj = (int) (iy - j);
-                        if (iyj < 0)
-                                iyj = 0;
-                        #pragma omp parallel for reduction(minn: nn)
-                        for (i = 0; i < nodes[iyj].size(); i++) {
-                                if (EDIST(nodes[iyj][i], node) < nn.mc &&
-                                                tree != '0' &&
-                                                nodes[iyj][i]->tree() == tree) {
-                                        nn.mc = EDIST(nodes[iyj][i], node);
-                                        nn.nn = nodes[iyj][i];
-                                }
-                        }
-                }
-                j++;
-        }
-        return nn.nn;
-}