mat/azalea
1
2
Fork 0
mirror of https://github.com/mat-1/azalea.git synced 2025-08-02 06:16:04 +00:00
Code Issues Projects Releases Packages Activity

updated edges

Browse source
This commit is contained in:
Ubuntu 2022-10-05 21:08:34 +00:00
parent 00fcf26fca
commit ac4abca9e2
1 changed files with 29 additions and 4 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

33
azalea-pathfinder/src/dstarlite.rs
View file

@ -44,11 +44,13 @@ pub struct DStarLite<'a, N: Eq + Hash + Clone, W: Ord + Copy> {
pub predecessors: EdgesFn<N, W>,
pub start: Cow<'a, Vertex<N, W>>,
pub goal: Vertex<N, W>,
goal: Vertex<N, W>,
pub queue: PriorityQueue<Vertex<N, W>, Priority<W>>,
queue: PriorityQueue<Vertex<N, W>, Priority<W>>,
k_m: W,
pub k_m: W,
/// A list of edges and costs that we'll be updating next time.
pub updated_edge_costs: Vec<(Edge<'a, N, W>, W)>,
}
pub struct Edge<'a, N: Eq + Hash + Clone, W: Ord + Copy> {
@ -106,7 +108,8 @@ where
queue,
k_m: W::default(),
// self.goal.rhs = W::default(),
updated_edge_costs: Vec::new(),
}
}
@ -173,6 +176,28 @@ where
}
}
pub fn update_from_updated_edges(&mut self) {
while let Some((mut edge, new_cost)) = self.updated_edge_costs.pop() {
let old_cost = edge.cost;
edge.cost = new_cost;
if old_cost > new_cost {
edge.successor.to_mut().rhs =
Ord::min(edge.successor.rhs, edge.cost + edge.successor.g);
} else if edge.successor.rhs == old_cost + edge.successor.g {
if edge.successor.deref() != &self.goal {
edge.successor.to_mut().rhs = (self.successors)(&edge.successor)
.iter()
.map(|s| s.cost + edge.successor.g)
.min()
.unwrap();
}
}
self.update_vertex(&edge.successor);
}
}
fn next(&mut self) {}
// fn main(&mut self) {
// let s_last = &self.start;
// self.compute_shortest_path();