UnivFFviaFM.cpp 45.6 KB
Newer Older
Arne Graf's avatar
Arne Graf committed
1 2 3 4 5 6 7 8 9 10 11 12
//
// Created by arne on 5/9/17.
//

#include "UnivFFviaFM.h"
#include "../../geometry/Line.h"
#include "../../geometry/Building.h"
#include "../../geometry/Room.h"
#include "../../geometry/SubRoom.h"
#include "mesh/RectGrid.h"


Arne Graf's avatar
Arne Graf committed
13 14
UnivFFviaFM::UnivFFviaFM(Room* r, Building* b, double hx, double wallAvoid, bool useWallAvoid)
          : UnivFFviaFM(r, b->GetConfig(), hx, wallAvoid, useWallAvoid) {
Arne Graf's avatar
Arne Graf committed
15 16 17
     _building = b;
}

Arne Graf's avatar
Arne Graf committed
18 19
UnivFFviaFM::UnivFFviaFM(SubRoom* sr, Building* b, double hx, double wallAvoid, bool useWallAvoid)
          : UnivFFviaFM(sr, b->GetConfig(), hx, wallAvoid, useWallAvoid) {
Arne Graf's avatar
Arne Graf committed
20 21 22
     _building = b;
}

Arne Graf's avatar
Arne Graf committed
23
UnivFFviaFM::UnivFFviaFM(Room* r, Configuration* const conf, double hx, double wallAvoid, bool useWallAvoid)
Arne Graf's avatar
Arne Graf committed
24 25 26
          : UnivFFviaFM(r, conf, hx, wallAvoid, useWallAvoid, std::vector<int>()){
}

Arne Graf's avatar
Arne Graf committed
27
UnivFFviaFM::UnivFFviaFM(Room* roomArg, Configuration* const confArg, double hx, double wallAvoid, bool useWallAvoid, std::vector<int> wantedDoors) {
Arne Graf's avatar
Arne Graf committed
28 29 30
     //build the vector with walls(wall or obstacle), the map with <UID, Door(Cross or Trans)>, the vector with targets(UIDs)
     //then call other constructor including the mode

Arne Graf's avatar
Arne Graf committed
31 32
     _configuration = confArg;
     _scope = FF_ROOM_SCALE;
Arne Graf's avatar
Arne Graf committed
33
     _room = roomArg->GetID();
Arne Graf's avatar
Arne Graf committed
34 35 36
     std::vector<Line> lines;
     std::map<int, Line> tmpDoors;

Arne Graf's avatar
Arne Graf committed
37
     for (auto& subroomMap : roomArg->GetAllSubRooms()) {
Arne Graf's avatar
Arne Graf committed
38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54
          SubRoom* subRoomPtr = subroomMap.second.get();
          std::vector<Wall> walls = std::vector<Wall>(subRoomPtr->GetAllWalls());
          for (auto& wall : walls) {
               lines.emplace_back((Line)wall);
          }

          std::vector<Obstacle*> tmpObsPtrVec = subRoomPtr->GetAllObstacles();
          for (Obstacle* ptrObs : tmpObsPtrVec) {
               const std::vector<Wall> obsWalls = ptrObs->GetAllWalls();
               for (auto& owall : obsWalls) {
                    lines.emplace_back((Line)owall);
               }
          }

          const std::vector<Crossing*> tmpCross = subRoomPtr->GetAllCrossings();
          const std::vector<Transition*> tmpTrans = subRoomPtr->GetAllTransitions();

Arne Graf's avatar
Arne Graf committed
55
          int uidNotConst = 0;
Arne Graf's avatar
Arne Graf committed
56
          for (auto& cross : tmpCross) {
Arne Graf's avatar
Arne Graf committed
57 58 59 60
               uidNotConst = cross->GetUniqueID();
               if (tmpDoors.count(uidNotConst) == 0) {
                    tmpDoors.emplace(std::make_pair(uidNotConst, (Line) *cross));
               }
Arne Graf's avatar
Arne Graf committed
61 62
          }
          for (auto& trans : tmpTrans) {
Arne Graf's avatar
Arne Graf committed
63 64 65 66
               uidNotConst = trans->GetUniqueID();
               if (tmpDoors.count(uidNotConst) == 0) {
                    tmpDoors.emplace(std::make_pair(uidNotConst, (Line) *trans));
               }
Arne Graf's avatar
Arne Graf committed
67 68 69
          }
     }

Arne Graf's avatar
Arne Graf committed
70 71
     //create(lines, tmpDoors, wantedDoors, FF_HOMO_SPEED, hx, wallAvoid, useWallAvoid);
     create(lines, tmpDoors, wantedDoors, FF_WALL_AVOID, hx, wallAvoid, useWallAvoid);
Arne Graf's avatar
Arne Graf committed
72 73
}

Arne Graf's avatar
Arne Graf committed
74
UnivFFviaFM::UnivFFviaFM(SubRoom* sr, Configuration* const conf, double hx, double wallAvoid, bool useWallAvoid)
Arne Graf's avatar
Arne Graf committed
75
          : UnivFFviaFM(sr, conf, hx, wallAvoid, useWallAvoid, std::vector<int>()){
Arne Graf's avatar
Arne Graf committed
76 77
}

Arne Graf's avatar
Arne Graf committed
78
UnivFFviaFM::UnivFFviaFM(SubRoom* subRoomArg, Configuration* const confArg, double hx, double wallAvoid, bool useWallAvoid, std::vector<int> wantedDoors) {
Arne Graf's avatar
Arne Graf committed
79 80
     //build the vector with walls(wall or obstacle), the map with <UID, Door(Cross or Trans)>, the vector with targets(UIDs)
     //then call other constructor including the mode
Arne Graf's avatar
Arne Graf committed
81 82
     _configuration = confArg;
     _scope = FF_SUBROOM_SCALE;
Arne Graf's avatar
Arne Graf committed
83
     _room = subRoomArg->GetRoomID();
Arne Graf's avatar
Arne Graf committed
84
     std::vector<Line> lines;
Arne Graf's avatar
Arne Graf committed
85 86 87
     std::map<int, Line> tmpDoors;

     std::vector<Wall> walls = std::vector<Wall> (subRoomArg->GetAllWalls());
Arne Graf's avatar
Arne Graf committed
88 89 90 91
     for (auto& wall : walls) {
          lines.emplace_back((Line)wall);
     }

Arne Graf's avatar
Arne Graf committed
92
     std::vector<Obstacle*> tmpObsPtrVec = subRoomArg->GetAllObstacles();
Arne Graf's avatar
Arne Graf committed
93 94 95 96 97 98 99
     for (Obstacle* ptrObs : tmpObsPtrVec) {
          const std::vector<Wall> obsWalls = ptrObs->GetAllWalls();
          for (auto& owall : obsWalls) {
               lines.emplace_back((Line)owall);
          }
     }

Arne Graf's avatar
Arne Graf committed
100 101
     const std::vector<Crossing*> tmpCross = subRoomArg->GetAllCrossings();
     const std::vector<Transition*> tmpTrans = subRoomArg->GetAllTransitions();
Arne Graf's avatar
Arne Graf committed
102

Arne Graf's avatar
Arne Graf committed
103
     int uidNotConst = 0;
Arne Graf's avatar
Arne Graf committed
104
     for (auto& cross : tmpCross) {
Arne Graf's avatar
Arne Graf committed
105 106
          uidNotConst = cross->GetUniqueID();
          tmpDoors.emplace(std::make_pair(uidNotConst, (Line) *cross));
Arne Graf's avatar
Arne Graf committed
107 108
     }
     for (auto& trans : tmpTrans) {
Arne Graf's avatar
Arne Graf committed
109 110
          uidNotConst = trans->GetUniqueID();
          tmpDoors.emplace(std::make_pair(uidNotConst, (Line) *trans));
Arne Graf's avatar
Arne Graf committed
111 112
     }

Arne Graf's avatar
Arne Graf committed
113
     create(lines, tmpDoors, wantedDoors, FF_HOMO_SPEED, hx, wallAvoid, useWallAvoid);
Arne Graf's avatar
Arne Graf committed
114 115
}

Arne Graf's avatar
Arne Graf committed
116 117 118 119 120 121 122
void UnivFFviaFM::create(std::vector<Line>& walls, std::map<int, Line>& doors, std::vector<int> targetUIDs, int mode,
                         double spacing, double wallAvoid, bool useWallAvoid) {

     _wallAvoidDistance = wallAvoid;
     _useWallAvoidance = useWallAvoid;
     _speedmode = mode;

Arne Graf's avatar
Arne Graf committed
123 124 125 126 127 128 129
     //find circumscribing rectangle (x_min/max, y_min/max) //create RectGrid
     createRectGrid(walls, doors, spacing);
     _nPoints = _grid->GetnPoints();

     //allocate _gridCode and  _speedFieldSelector and initialize them ("draw" walls and doors)
     _gridCode = new int[_nPoints];
     processGeometry(walls, doors);
Arne Graf's avatar
Arne Graf committed
130
     _speedFieldSelector.emplace(_speedFieldSelector.begin()+INITIAL_SPEED, new double[_nPoints]);
Arne Graf's avatar
Arne Graf committed
131 132 133 134 135 136 137 138 139 140
     std::fill(_speedFieldSelector[INITIAL_SPEED], _speedFieldSelector[INITIAL_SPEED]+_nPoints, 1.0);

     //allocate _initalSpeed and maybe _modifiedSpeed
     if (mode == FF_WALL_AVOID) {
          double* cost_alias_walldistance = new double[_nPoints];
          _costFieldWithKey[0] = cost_alias_walldistance;
          Point* gradient_alias_walldirection = new Point[_nPoints];
          _directionFieldWithKey[0] = gradient_alias_walldirection;

          //create wall distance field
Arne Graf's avatar
Arne Graf committed
141 142 143 144 145 146 147 148 149 150 151
          //init costarray
          for (int i = 0; i < _nPoints; ++i) {
               if (_gridCode[i] == WALL) {
                    cost_alias_walldistance[i] = magicnum(WALL_ON_COSTARRAY);
               } else {
                    cost_alias_walldistance[i] = magicnum(UNKNOWN_COST);
               }
          }
          drawLinesOnWall(walls, cost_alias_walldistance, magicnum(TARGET_REGION));
          calcDF(cost_alias_walldistance, gradient_alias_walldirection, _speedFieldSelector[INITIAL_SPEED]);
          //_uids.emplace_back(0);
Arne Graf's avatar
Arne Graf committed
152 153

          double* temp_reduWallSpeed = new double[_nPoints];
Arne Graf's avatar
Arne Graf committed
154
          if (_speedFieldSelector.size() > 1) { //free memory before overwriting
Arne Graf's avatar
Arne Graf committed
155 156 157 158 159
               delete[] _speedFieldSelector[REDU_WALL_SPEED];
          }
          _speedFieldSelector[REDU_WALL_SPEED] = temp_reduWallSpeed;
          //init _reducedWallSpeed by using distance field
          //@todo: @ar.graf @newFF
Arne Graf's avatar
Arne Graf committed
160
          createReduWallSpeed(temp_reduWallSpeed);
Arne Graf's avatar
Arne Graf committed
161 162
     }

Arne Graf's avatar
Arne Graf committed
163 164
     //the memory will be allocated in "addTarget". for parallel processing, we might change it to allocate before the
     //parallel region and call a fct "addTarget(int, [ptr_to_preallocated mem])"
Arne Graf's avatar
Arne Graf committed
165
     for (auto targetUID : targetUIDs ) {
Arne Graf's avatar
Arne Graf committed
166
          addTarget(targetUID);
Arne Graf's avatar
Arne Graf committed
167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213
     }    //loop over targets



}

void UnivFFviaFM::createRectGrid(std::vector<Line>& walls, std::map<int, Line>& doors, double spacing) {
     double x_min = DBL_MAX;  double x_max = DBL_MIN;
     double y_min = DBL_MAX;  double y_max = DBL_MIN;

     for(auto& wall : walls) {
          if (wall.GetPoint1()._x < x_min) x_min = wall.GetPoint1()._x;
          if (wall.GetPoint1()._y < y_min) y_min = wall.GetPoint1()._y;
          if (wall.GetPoint2()._x < x_min) x_min = wall.GetPoint2()._x;
          if (wall.GetPoint2()._y < y_min) y_min = wall.GetPoint2()._y;

          if (wall.GetPoint1()._x > x_max) x_max = wall.GetPoint1()._x;
          if (wall.GetPoint1()._y > y_max) y_max = wall.GetPoint1()._y;
          if (wall.GetPoint2()._x > x_max) x_max = wall.GetPoint2()._x;
          if (wall.GetPoint2()._y > y_max) y_max = wall.GetPoint2()._y;
     }

     for(auto& doorPair:doors) {
          Line& door = doorPair.second;
          if (door.GetPoint1()._x < x_min) x_min = door.GetPoint1()._x;
          if (door.GetPoint1()._y < y_min) y_min = door.GetPoint1()._y;
          if (door.GetPoint2()._x < x_min) x_min = door.GetPoint2()._x;
          if (door.GetPoint2()._y < y_min) y_min = door.GetPoint2()._y;

          if (door.GetPoint1()._x > x_max) x_max = door.GetPoint1()._x;
          if (door.GetPoint1()._y > y_max) y_max = door.GetPoint1()._y;
          if (door.GetPoint2()._x > x_max) x_max = door.GetPoint2()._x;
          if (door.GetPoint2()._y > y_max) y_max = door.GetPoint2()._y;
     }

     //create Rect Grid
     _grid = new RectGrid();
     _grid->setBoundaries(x_min, y_min, x_max, y_max);
     _grid->setSpacing(spacing, spacing);
     _grid->createGrid();
}

void UnivFFviaFM::processGeometry(std::vector<Line>&walls, std::map<int, Line>& doors) {
     for (int i = 0; i < _nPoints; ++i) {
          _gridCode[i] = OUTSIDE;
     }

Arne Graf's avatar
Arne Graf committed
214 215 216 217
     for (auto mapentry : doors) {
          _doors.insert(mapentry);
     }
     //_doors = doors;
Arne Graf's avatar
Arne Graf committed
218 219 220 221 222

     drawLinesOnGrid<int>(walls, _gridCode, WALL);
     drawLinesOnGrid(doors, _gridCode); //UIDs of doors will be drawn on _gridCode
}

Arne Graf's avatar
Arne Graf committed
223 224 225 226 227 228 229 230 231 232
void UnivFFviaFM::createReduWallSpeed(double* reduWallSpeed){
     double factor = 1/_wallAvoidDistance;
     double* wallDstAlias = _costFieldWithKey[0];

     for (long int i = 0; i < _nPoints; ++i) {
          if (wallDstAlias[i] > 0.) {
               reduWallSpeed[i] = (wallDstAlias[i] > _wallAvoidDistance) ? 1.0 : (factor * wallDstAlias[i]);
          }
     }
}
Arne Graf's avatar
Arne Graf committed
233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342
void UnivFFviaFM::drawLinesOnGrid(std::map<int, Line>& doors, int *const grid) {
     for (auto&& doorPair : doors) {
          int tempUID = doorPair.first;
          Line tempDoorLine = Line(doorPair.second);
          drawLinesOnGrid(tempDoorLine, grid, tempUID);
     }
}

template <typename T>
void UnivFFviaFM::drawLinesOnGrid(std::vector<Line>& wallArg, T* const target, const T value) { //no init, plz init elsewhere

     for (auto& line : wallArg) {
          drawLinesOnGrid(line, target, value);
     } //loop over all walls

} //drawLinesOnGrid

template <typename T>
void UnivFFviaFM::drawLinesOnGrid(Line& line, T* const target, const T value) { //no init, plz init elsewhere
// i~x; j~y;
//http://stackoverflow.com/questions/10060046/drawing-lines-with-bresenhams-line-algorithm
//src in answer of "Avi"; adapted to fit this application

     //grid handeling local vars:
     long int iMax  = _grid->GetiMax();

     long int iStart, iEnd;
     long int jStart, jEnd;
     long int iDot, jDot;
     long int key;
     long int deltaX, deltaY, deltaX1, deltaY1, px, py, xe, ye, i; //Bresenham Algorithm


     key = _grid->getKeyAtPoint(line.GetPoint1());
     iStart = (long) _grid->get_i_fromKey(key);
     jStart = (long) _grid->get_j_fromKey(key);

     key = _grid->getKeyAtPoint(line.GetPoint2());
     iEnd = (long) _grid->get_i_fromKey(key);
     jEnd = (long) _grid->get_j_fromKey(key);

     deltaX = (int) (iEnd - iStart);
     deltaY = (int) (jEnd - jStart);
     deltaX1 = abs( (int) (iEnd - iStart));
     deltaY1 = abs( (int) (jEnd - jStart));

     px = 2*deltaY1 - deltaX1;
     py = 2*deltaX1 - deltaY1;

     if(deltaY1<=deltaX1) {
          if(deltaX>=0) {
               iDot = iStart;
               jDot = jStart;
               xe = iEnd;
          } else {
               iDot = iEnd;
               jDot = jEnd;
               xe = iStart;
          }
          if ((_gridCode[jDot*iMax + iDot] != WALL) && (_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
               target[jDot * iMax + iDot] = value;
          }
          for (i=0; iDot < xe; ++i) {
               ++iDot;
               if(px<0) {
                    px+=2*deltaY1;
               } else {
                    if((deltaX<0 && deltaY<0) || (deltaX>0 && deltaY>0)) {
                         ++jDot;
                    } else {
                         --jDot;
                    }
                    px+=2*(deltaY1-deltaX1);
               }
               if ((_gridCode[jDot*iMax + iDot] != WALL) && (_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
                    target[jDot * iMax + iDot] = value;
               }
          }
     } else {
          if(deltaY>=0) {
               iDot = iStart;
               jDot = jStart;
               ye = jEnd;
          } else {
               iDot = iEnd;
               jDot = jEnd;
               ye = jStart;
          }
          if ((_gridCode[jDot*iMax + iDot] != WALL) && (_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
               target[jDot * iMax + iDot] = value;
          }
          for(i=0; jDot<ye; ++i) {
               ++jDot;
               if (py<=0) {
                    py+=2*deltaX1;
               } else {
                    if((deltaX<0 && deltaY<0) || (deltaX>0 && deltaY>0)) {
                         ++iDot;
                    } else {
                         --iDot;
                    }
                    py+=2*(deltaX1-deltaY1);
               }
               if ((_gridCode[jDot*iMax + iDot] != WALL) && (_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
                    target[jDot * iMax + iDot] = value;
               }
          }
     }
} //drawLinesOnGrid

Arne Graf's avatar
Arne Graf committed
343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444
template <typename T>
void UnivFFviaFM::drawLinesOnWall(std::vector<Line>& wallArg, T* const target, const T value) { //no init, plz init elsewhere

     for (auto& line : wallArg) {
          drawLinesOnWall(line, target, value);
     } //loop over all walls

} //drawLinesOnWall

template <typename T>
void UnivFFviaFM::drawLinesOnWall(Line& line, T* const target, const T value) { //no init, plz init elsewhere
// i~x; j~y;
//http://stackoverflow.com/questions/10060046/drawing-lines-with-bresenhams-line-algorithm
//src in answer of "Avi"; adapted to fit this application

     //grid handeling local vars:
     long int iMax  = _grid->GetiMax();

     long int iStart, iEnd;
     long int jStart, jEnd;
     long int iDot, jDot;
     long int key;
     long int deltaX, deltaY, deltaX1, deltaY1, px, py, xe, ye, i; //Bresenham Algorithm


     key = _grid->getKeyAtPoint(line.GetPoint1());
     iStart = (long) _grid->get_i_fromKey(key);
     jStart = (long) _grid->get_j_fromKey(key);

     key = _grid->getKeyAtPoint(line.GetPoint2());
     iEnd = (long) _grid->get_i_fromKey(key);
     jEnd = (long) _grid->get_j_fromKey(key);

     deltaX = (int) (iEnd - iStart);
     deltaY = (int) (jEnd - jStart);
     deltaX1 = abs( (int) (iEnd - iStart));
     deltaY1 = abs( (int) (jEnd - jStart));

     px = 2*deltaY1 - deltaX1;
     py = 2*deltaX1 - deltaY1;

     if(deltaY1<=deltaX1) {
          if(deltaX>=0) {
               iDot = iStart;
               jDot = jStart;
               xe = iEnd;
          } else {
               iDot = iEnd;
               jDot = jEnd;
               xe = iStart;
          }
          if ((_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
               target[jDot * iMax + iDot] = value;
          }
          for (i=0; iDot < xe; ++i) {
               ++iDot;
               if(px<0) {
                    px+=2*deltaY1;
               } else {
                    if((deltaX<0 && deltaY<0) || (deltaX>0 && deltaY>0)) {
                         ++jDot;
                    } else {
                         --jDot;
                    }
                    px+=2*(deltaY1-deltaX1);
               }
               if ((_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
                    target[jDot * iMax + iDot] = value;
               }
          }
     } else {
          if(deltaY>=0) {
               iDot = iStart;
               jDot = jStart;
               ye = jEnd;
          } else {
               iDot = iEnd;
               jDot = jEnd;
               ye = jStart;
          }
          if ((_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
               target[jDot * iMax + iDot] = value;
          }
          for(i=0; jDot<ye; ++i) {
               ++jDot;
               if (py<=0) {
                    py+=2*deltaX1;
               } else {
                    if((deltaX<0 && deltaY<0) || (deltaX>0 && deltaY>0)) {
                         ++iDot;
                    } else {
                         --iDot;
                    }
                    py+=2*(deltaX1-deltaY1);
               }
               if ((_gridCode[jDot*iMax + iDot] != CLOSED_CROSSING) && (_gridCode[jDot*iMax + iDot] != CLOSED_TRANSITION)) {
                    target[jDot * iMax + iDot] = value;
               }
          }
     }
} //drawLinesOnWall

Arne Graf's avatar
Arne Graf committed
445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575
void UnivFFviaFM::calcFF(double* costOutput, Point* directionOutput, const double *const speed) {
     CompareCost comp = CompareCost(costOutput);
     std::priority_queue<long int, std::vector<long int>, CompareCost> trialfield(costOutput); //pass the argument for the constr of CompareCost
     std::priority_queue<long int, std::vector<long int>, CompareCost> trialfield2(comp);      //pass the CompareCost object directly

     directNeighbor local_neighbor = _grid->getNeighbors(0);
     long int aux = 0;
     //init trial field
     for (long int i = 0; i < _nPoints; ++i) {
          if (costOutput[i] == 0.0) {
               //check for negative neighbours, calc that ones and add to queue trialfield
               local_neighbor = _grid->getNeighbors(i);

               //check for valid neigh
               aux = local_neighbor.key[0];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcCost(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
               aux = local_neighbor.key[1];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcCost(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
               aux = local_neighbor.key[2];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcCost(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
               aux = local_neighbor.key[3];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcCost(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
          }
     }

     while(!trialfield.empty()) {
          local_neighbor = _grid->getNeighbors(trialfield.top());
          trialfield.pop();

          //check for valid neigh
          aux = local_neighbor.key[0];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcCost(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
          aux = local_neighbor.key[1];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcCost(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
          aux = local_neighbor.key[2];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcCost(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
          aux = local_neighbor.key[3];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcCost(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
     }
}

void UnivFFviaFM::calcCost(const long int key, double* cost, Point* dir, const double* const speed) {
     //adapt from calcFloorfield
     double row = DBL_MAX;
     double col = DBL_MAX;
     long int aux = -1; //will be set below
     bool pointsUp = false;
     bool pointsRight = false;

     directNeighbor dNeigh = _grid->getNeighbors(key);

     aux = dNeigh.key[0];
     //hint: trialfield[i].cost = dist2Wall + i; <<< set in resetGoalAndCosts
     if  ((aux != -2) &&                                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE)) &&  //gridpoint holds a calculated value
          (_gridCode[aux] != WALL))                                                              //gridpoint holds a calculated value
     {
          row = cost[aux];
          pointsRight = true;
          if (row < 0) {
               std::cerr << "hier ist was schief " << row << " " << aux << " " <<  std::endl;
               row = DBL_MAX;
          }
     }
     aux = dNeigh.key[2];
     if  ((aux != -2) &&                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE)) &&  //gridpoint holds a calculated value
          (_gridCode[aux] != WALL) &&
          (cost[aux] < row))                                       //calculated value promises smaller cost
     {
          row = cost[aux];
          pointsRight = false;
     }

     aux = dNeigh.key[1];
     //hint: trialfield[i].cost = dist2Wall + i; <<< set in parseBuilding after linescan call
     if  ((aux != -2) &&                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE)) &&  //gridpoint holds a calculated value
          (_gridCode[aux] != WALL))
     {
          col = cost[aux];
          pointsUp = true;
          if (col < 0) {
               std::cerr << "hier ist was schief " << col << " " << aux << " "  << std::endl;
               col = DBL_MAX;
          }
     }
     aux = dNeigh.key[3];
     if  ((aux != -2) &&                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE)) &&  //gridpoint holds a calculated value
          (_gridCode[aux] != WALL) &&
          (cost[aux] < col))                                       //calculated value promises smaller cost
     {
          col = cost[aux];
          pointsUp = false;
     }
     if (col == DBL_MAX) { //one sided update with row
          cost[key] = onesidedCalc(row, _grid->Gethx()/speed[key]);
          //flag[key] = FM_SINGLE;
Arne Graf's avatar
Arne Graf committed
576 577 578
          if (!dir) {
               return;
          }
Arne Graf's avatar
Arne Graf committed
579 580 581 582 583 584 585 586 587 588 589 590 591 592
          if (pointsRight) {
               dir[key]._x = (-(cost[key+1]-cost[key])/_grid->Gethx());
               dir[key]._y = (0.);
          } else {
               dir[key]._x = (-(cost[key]-cost[key-1])/_grid->Gethx());
               dir[key]._y = (0.);
          }
          dir[key] = dir[key].Normalized(); //@todo: ar.graf: what yields better performance? scale every point here or scale each read value? more points or more calls to any element of dir2Wall
          return;
     }

     if (row == DBL_MAX) { //one sided update with col
          cost[key] = onesidedCalc(col, _grid->Gethy()/speed[key]);
          //flag[key] = FM_SINGLE;
Arne Graf's avatar
Arne Graf committed
593 594 595
          if (!dir) {
               return;
          }
Arne Graf's avatar
Arne Graf committed
596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611
          if (pointsUp) {
               dir[key]._x = (0.);
               dir[key]._y = (-(cost[key+(_grid->GetiMax())]-cost[key])/_grid->Gethy());
          } else {
               dir[key]._x = (0.);
               dir[key]._y = (-(cost[key]-cost[key-(_grid->GetiMax())])/_grid->Gethy());
          }
          dir[key] = dir[key].Normalized();
          return;
     }

     //two sided update
     double precheck = twosidedCalc(row, col, _grid->Gethx()/speed[key]);
     if (precheck >= 0) {
          cost[key] = precheck;
          //flag[key] = FM_DOUBLE;
Arne Graf's avatar
Arne Graf committed
612 613 614
          if (!dir) {
               return;
          }
Arne Graf's avatar
Arne Graf committed
615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636
          if (pointsUp && pointsRight) {
               dir[key]._x = (-(cost[key+1]-cost[key])/_grid->Gethx());
               dir[key]._y = (-(cost[key+(_grid->GetiMax())]-cost[key])/_grid->Gethy());
          }
          if (pointsUp && !pointsRight) {
               dir[key]._x = (-(cost[key]-cost[key-1])/_grid->Gethx());
               dir[key]._y = (-(cost[key+(_grid->GetiMax())]-cost[key])/_grid->Gethy());
          }
          if (!pointsUp && pointsRight) {
               dir[key]._x = (-(cost[key+1]-cost[key])/_grid->Gethx());
               dir[key]._y = (-(cost[key]-cost[key-(_grid->GetiMax())])/_grid->Gethy());
          }
          if (!pointsUp && !pointsRight) {
               dir[key]._x = (-(cost[key]-cost[key-1])/_grid->Gethx());
               dir[key]._y = (-(cost[key]-cost[key-(_grid->GetiMax())])/_grid->Gethy());
          }
     } else {
          std::cerr << "else in twosided Dist " << std::endl;
     }
     dir[key] = dir[key].Normalized();
}

Arne Graf's avatar
Arne Graf committed
637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767
void UnivFFviaFM::calcDF(double* costOutput, Point* directionOutput, const double *const speed) {
     CompareCost comp = CompareCost(costOutput);
     std::priority_queue<long int, std::vector<long int>, CompareCost> trialfield(costOutput); //pass the argument for the constr of CompareCost
     std::priority_queue<long int, std::vector<long int>, CompareCost> trialfield2(comp);      //pass the CompareCost object directly

     directNeighbor local_neighbor = _grid->getNeighbors(0);
     long int aux = 0;
     //init trial field
     for (long int i = 0; i < _nPoints; ++i) {
          if (costOutput[i] == 0.0) {
               //check for negative neighbours, calc that ones and add to queue trialfield
               local_neighbor = _grid->getNeighbors(i);

               //check for valid neigh
               aux = local_neighbor.key[0];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcDist(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
               aux = local_neighbor.key[1];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcDist(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
               aux = local_neighbor.key[2];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcDist(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
               aux = local_neighbor.key[3];
               if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
                    calcDist(aux, costOutput, directionOutput, speed);
                    trialfield.emplace(aux);
                    trialfield2.emplace(aux);
               }
          }
     }

     while(!trialfield.empty()) {
          local_neighbor = _grid->getNeighbors(trialfield.top());
          trialfield.pop();

          //check for valid neigh
          aux = local_neighbor.key[0];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcDist(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
          aux = local_neighbor.key[1];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcDist(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
          aux = local_neighbor.key[2];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcDist(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
          aux = local_neighbor.key[3];
          if ((aux != -2) && (_gridCode[aux] != WALL) && (costOutput[aux] < 0.0)) {
               calcDist(aux, costOutput, directionOutput, speed);
               trialfield.emplace(aux);
               trialfield2.emplace(aux);
          }
     }
}

void UnivFFviaFM::calcDist(const long int key, double* cost, Point* dir, const double* const speed) {
     //adapt from calcFloorfield
     double row = DBL_MAX;
     double col = DBL_MAX;
     long int aux = -1; //will be set below
     bool pointsUp = false;
     bool pointsRight = false;

     directNeighbor dNeigh = _grid->getNeighbors(key);

     aux = dNeigh.key[0];
     //hint: trialfield[i].cost = dist2Wall + i; <<< set in resetGoalAndCosts
     if  ((aux != -2) &&                                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE))     //gridpoint holds a calculated value
          )                                                              //gridpoint holds a calculated value
     {
          row = cost[aux];
          pointsRight = true;
          if (row < 0) {
               std::cerr << "hier ist was schief " << row << " " << aux << " " <<  std::endl;
               row = DBL_MAX;
          }
     }
     aux = dNeigh.key[2];
     if  ((aux != -2) &&                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE))   //gridpoint holds a calculated value
           &&
          (cost[aux] < row))                                       //calculated value promises smaller cost
     {
          row = cost[aux];
          pointsRight = false;
     }

     aux = dNeigh.key[1];
     //hint: trialfield[i].cost = dist2Wall + i; <<< set in parseBuilding after linescan call
     if  ((aux != -2) &&                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE))   //gridpoint holds a calculated value
          )
     {
          col = cost[aux];
          pointsUp = true;
          if (col < 0) {
               std::cerr << "hier ist was schief " << col << " " << aux << " "  << std::endl;
               col = DBL_MAX;
          }
     }
     aux = dNeigh.key[3];
     if  ((aux != -2) &&                                                         //neighbor is a gridpoint
          (cost[aux] != magicnum(UNKNOWN_COST)) && (cost[aux] != magicnum(UNKNOWN_DISTANCE)) &&  //gridpoint holds a calculated value

          (cost[aux] < col))                                       //calculated value promises smaller cost
     {
          col = cost[aux];
          pointsUp = false;
     }
     if (col == DBL_MAX) { //one sided update with row
          cost[key] = onesidedCalc(row, _grid->Gethx()/speed[key]);
          //flag[key] = FM_SINGLE;
Arne Graf's avatar
Arne Graf committed
768 769 770
          if (!dir) {
               return;
          }
Arne Graf's avatar
Arne Graf committed
771 772 773 774 775 776 777 778 779 780 781 782 783 784
          if (pointsRight) {
               dir[key]._x = (-(cost[key+1]-cost[key])/_grid->Gethx());
               dir[key]._y = (0.);
          } else {
               dir[key]._x = (-(cost[key]-cost[key-1])/_grid->Gethx());
               dir[key]._y = (0.);
          }
          dir[key] = dir[key].Normalized(); //@todo: ar.graf: what yields better performance? scale every point here or scale each read value? more points or more calls to any element of dir2Wall
          return;
     }

     if (row == DBL_MAX) { //one sided update with col
          cost[key] = onesidedCalc(col, _grid->Gethy()/speed[key]);
          //flag[key] = FM_SINGLE;
Arne Graf's avatar
Arne Graf committed
785 786 787
          if (!dir) {
               return;
          }
Arne Graf's avatar
Arne Graf committed
788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803
          if (pointsUp) {
               dir[key]._x = (0.);
               dir[key]._y = (-(cost[key+(_grid->GetiMax())]-cost[key])/_grid->Gethy());
          } else {
               dir[key]._x = (0.);
               dir[key]._y = (-(cost[key]-cost[key-(_grid->GetiMax())])/_grid->Gethy());
          }
          dir[key] = dir[key].Normalized();
          return;
     }

     //two sided update
     double precheck = twosidedCalc(row, col, _grid->Gethx()/speed[key]);
     if (precheck >= 0) {
          cost[key] = precheck;
          //flag[key] = FM_DOUBLE;
Arne Graf's avatar
Arne Graf committed
804 805 806
          if (!dir) {
               return;
          }
Arne Graf's avatar
Arne Graf committed
807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828
          if (pointsUp && pointsRight) {
               dir[key]._x = (-(cost[key+1]-cost[key])/_grid->Gethx());
               dir[key]._y = (-(cost[key+(_grid->GetiMax())]-cost[key])/_grid->Gethy());
          }
          if (pointsUp && !pointsRight) {
               dir[key]._x = (-(cost[key]-cost[key-1])/_grid->Gethx());
               dir[key]._y = (-(cost[key+(_grid->GetiMax())]-cost[key])/_grid->Gethy());
          }
          if (!pointsUp && pointsRight) {
               dir[key]._x = (-(cost[key+1]-cost[key])/_grid->Gethx());
               dir[key]._y = (-(cost[key]-cost[key-(_grid->GetiMax())])/_grid->Gethy());
          }
          if (!pointsUp && !pointsRight) {
               dir[key]._x = (-(cost[key]-cost[key-1])/_grid->Gethx());
               dir[key]._y = (-(cost[key]-cost[key-(_grid->GetiMax())])/_grid->Gethy());
          }
     } else {
          std::cerr << "else in twosided Dist " << std::endl;
     }
     dir[key] = dir[key].Normalized();
}

Arne Graf's avatar
Arne Graf committed
829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844
inline double UnivFFviaFM::onesidedCalc(double xy, double hDivF) {
     //if ( (xy+hDivF) > 10000) std::cerr << "error in onesided " << xy << std::endl;
     return xy + hDivF;
}

inline double UnivFFviaFM::twosidedCalc(double x, double y, double hDivF) { //on error return -2
     double determinante = (2*hDivF*hDivF - (x-y)*(x-y));
     if (determinante >= 0) {
          return (x + y + sqrt(determinante))/2;
     } else {
          return (x < y) ? (x + hDivF) : (y + hDivF);
     }
     std::cerr << "error in two-sided 2!!!!!!!!!!!!!!!!!!!!!!! o_O??" << std::endl;
     return -2.; //this line should never execute
} //twosidedCalc

Arne Graf's avatar
Arne Graf committed
845 846 847 848 849
void UnivFFviaFM::addTarget(const int uid, double* costarrayDBL, Point* gradarrayPt) {
     if (_doors.count(uid) == 0) {
          Log->Write("ERROR: \tCould not find door with uid %d in Room %d", uid, _room);
          return;
     }
Arne Graf's avatar
Arne Graf committed
850 851
     Line tempTargetLine = Line(_doors[uid]);
     Point tempCenterPoint = Point(tempTargetLine.GetCentre());
Arne Graf's avatar
Arne Graf committed
852

Arne Graf's avatar
Arne Graf committed
853
     //this allocation must be on shared heap! to be accessible by any thread later (should be shared in openmp)
Arne Graf's avatar
Arne Graf committed
854
     double* newArrayDBL = (costarrayDBL)? costarrayDBL : new double[_nPoints];
Arne Graf's avatar
Arne Graf committed
855 856
     Point* newArrayPt = nullptr;
     if (_user == DISTANCE_AND_DIRECTIONS_USED) {
Arne Graf's avatar
Arne Graf committed
857
          newArrayPt = (gradarrayPt)? gradarrayPt : new Point[_nPoints];
Arne Graf's avatar
Arne Graf committed
858 859
     }

Arne Graf's avatar
Arne Graf committed
860
     if (_costFieldWithKey[uid] && !costarrayDBL)
Arne Graf's avatar
Arne Graf committed
861 862 863 864 865 866 867 868 869 870 871 872
          delete[] _costFieldWithKey[uid];
     _costFieldWithKey[uid] = newArrayDBL;

     //init costarray
     for (int i = 0; i < _nPoints; ++i) {
          if (_gridCode[i] == WALL) {
               newArrayDBL[i] = magicnum(WALL_ON_COSTARRAY);
          } else {
               newArrayDBL[i] = magicnum(UNKNOWN_COST);
          }
     }

Arne Graf's avatar
Arne Graf committed
873
     if (_directionFieldWithKey[uid] && !gradarrayPt)
Arne Graf's avatar
Arne Graf committed
874 875 876
          delete[] _directionFieldWithKey[uid];
     if (newArrayPt)
          _directionFieldWithKey[uid] = newArrayPt;
Arne Graf's avatar
Arne Graf committed
877

Arne Graf's avatar
Arne Graf committed
878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893
     //initialize start area
     if (_mode == LINESEGMENT) {
          drawLinesOnGrid(tempTargetLine, newArrayDBL, magicnum(TARGET_REGION));
     }
     if (_mode == CENTERPOINT) {
          newArrayDBL[_grid->getKeyAtPoint(tempCenterPoint)] = magicnum(TARGET_REGION);
     }

     if (_speedmode == FF_WALL_AVOID) {
          calcFF(newArrayDBL, newArrayPt, _speedFieldSelector[REDU_WALL_SPEED]);
     } else if (_speedmode == FF_HOMO_SPEED) {
          calcFF(newArrayDBL, newArrayPt, _speedFieldSelector[INITIAL_SPEED]);
     }
     _uids.emplace_back(uid);
}

Arne Graf's avatar
Arne Graf committed
894 895 896 897 898 899 900
void UnivFFviaFM::addTarget(const int uid, Line* door, double* costarray, Point* gradarray){
     if (_doors.count(uid) == 0) {
          _doors.emplace(std::make_pair(uid, *door));
     }
     addTarget(uid, costarray, gradarray);
}

Arne Graf's avatar
Arne Graf committed
901 902 903 904
void UnivFFviaFM::addAllTargets() {
     for (auto uidmap : _doors) {
          addTarget(uidmap.first);
     }
Arne Graf's avatar
Arne Graf committed
905
}
Arne Graf's avatar
Arne Graf committed
906

Arne Graf's avatar
Arne Graf committed
907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939
void UnivFFviaFM::addAllTargetsParallel() {
     //free old memory
     for (auto memoryDBL : _costFieldWithKey) {
          if (memoryDBL.first == 0) continue;          //do not free distancemap
          if (memoryDBL.second) delete[](memoryDBL.second);
     }
     for (auto memoryPt : _directionFieldWithKey) {
          if (memoryPt.first == 0) continue;           //do not free walldirectionmap
          if (memoryPt.second) delete[](memoryPt.second);
     }
     //allocate new memory
     for (auto uidmap : _doors) {
          _costFieldWithKey[uidmap.first] = new double[_nPoints];
          if (_user == DISTANCE_MEASUREMENTS_ONLY) {
               _directionFieldWithKey[uidmap.first] = nullptr;
          }
          if (_user == DISTANCE_AND_DIRECTIONS_USED) {
               _directionFieldWithKey[uidmap.first] = new Point[_nPoints];
          }
     }

     //parallel region
#pragma omp parallel
     {
#pragma omp for
          for (unsigned int i = 0; i < _doors.size(); ++i) {
               auto doorPair = _doors.begin();
               std::advance(doorPair, i);
               addTarget(doorPair->first, _costFieldWithKey[doorPair->first], _directionFieldWithKey[doorPair->first]);
          }
     };
}

Arne Graf's avatar
Arne Graf committed
940 941 942 943
std::vector<int> UnivFFviaFM::getKnownDoorUIDs(){
     return _uids;
}

Arne Graf's avatar
Arne Graf committed
944 945 946 947 948 949 950 951 952
void UnivFFviaFM::setUser(int userArg) {
     _user=userArg;
}

void UnivFFviaFM::setMode(int modeArg) {
     _mode=modeArg;
}


Arne Graf's avatar
Arne Graf committed
953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980
void UnivFFviaFM::writeFF(const std::string& filename, std::vector<int> targetID) {
    Log->Write("INFO: \tWrite Floorfield to file");
    Log->Write(filename);
    std::ofstream file;

    Log->Write("FloorfieldViaFM::writeFF(): writing to file %s: There are %d targets.", filename.c_str(), targetID.size());

    int numX = (int) ((_grid->GetxMax()-_grid->GetxMin())/_grid->Gethx());
    int numY = (int) ((_grid->GetyMax()-_grid->GetyMin())/_grid->Gethy());
    int numTotal = numX * numY;
    //std::cerr << numTotal << " numTotal" << std::endl;
    //std::cerr << grid->GetnPoints() << " grid" << std::endl;
    file.open(filename);

    file << "# vtk DataFile Version 3.0" << std::endl;
    file << "Testdata: Fast Marching: Test: " << std::endl;
    file << "ASCII" << std::endl;
    file << "DATASET STRUCTURED_POINTS" << std::endl;
    file << "DIMENSIONS " <<
                                std::to_string(_grid->GetiMax()) <<
                                " " <<
                                std::to_string(_grid->GetjMax()) <<
                                " 1" << std::endl;
    file << "ORIGIN " << _grid->GetxMin() << " " << _grid->GetyMin() << " 0" << std::endl;
    file << "SPACING " << std::to_string(_grid->Gethx()) << " " << std::to_string(_grid->Gethy()) << " 1" << std::endl;
    file << "POINT_DATA " << std::to_string(numTotal) << std::endl;
    file << "SCALARS GCode float 1" << std::endl;
    file << "LOOKUP_TABLE default" << std::endl;
Arne Graf's avatar
Arne Graf committed
981 982 983
    if (!_gridCode) {
         return;
    }
Arne Graf's avatar
Arne Graf committed
984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009
    for (long int i = 0; i < _grid->GetnPoints(); ++i) {
         file << _gridCode[i] << std::endl;
    }

    if (_directionFieldWithKey[0]) {
         file << "VECTORS Dir2Wall float" << std::endl;
         for (long int i = 0; i < _grid->GetnPoints(); ++i) {
              file << _directionFieldWithKey[0][i]._x << " " << _directionFieldWithKey[0][i]._y << " 0.0" << std::endl;
         }

         file << "SCALARS Dist2Wall float 1" << std::endl;
         file << "LOOKUP_TABLE default" << std::endl;
         for (long int i = 0; i < _grid->GetnPoints(); ++i) {
              file << _costFieldWithKey[0][i] << std::endl; //@todo: change target to all dist2wall
         }
    }

//    file << "SCALARS SubroomPtr float 1" << std::endl;
//    file << "LOOKUP_TABLE default" << std::endl;
//    for (long int i = 0; i < _grid->GetnPoints(); ++i) {
//        if (_subrooms[i]) {
//            file << _subrooms[i]->GetUID() << std::endl;
//        } else {
//            file << 0.0 << std::endl;
//        }
//    }
Arne Graf's avatar
Arne Graf committed
1010 1011 1012
    if (!targetID.empty()) {
         for (unsigned int iTarget = 0; iTarget < targetID.size(); ++iTarget) {
              Log->Write("%s: target number %d: UID %d", filename.c_str(), iTarget, targetID[iTarget]);
Arne Graf's avatar
Arne Graf committed
1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032

              if (_costFieldWithKey.count(targetID[iTarget]) == 0) {
                   continue;
              }
              double *costarray = _costFieldWithKey[targetID[iTarget]];

              std::string name = _building->GetTransOrCrossByUID(targetID[iTarget])->GetCaption() + "-" +
                                                                                          std::to_string(targetID[iTarget]);
              std::replace(name.begin(), name.end(), ' ', '_');

              if (!costarray) {
                   continue;
              }

              file << "SCALARS CostTarget" << name << " float 1" << std::endl;
              file << "LOOKUP_TABLE default" << std::endl;
              for (long int i = 0; i < _grid->GetnPoints(); ++i) {
                   file << costarray[i] << std::endl;
              }

Arne Graf's avatar
Arne Graf committed
1033 1034 1035 1036 1037 1038 1039 1040 1041
              if (_directionFieldWithKey.count(targetID[iTarget]) == 0) {
                   continue;
              }

              Point *gradarray = _directionFieldWithKey[targetID[iTarget]];
              if (gradarray == nullptr) {
                   continue;
              }

Arne Graf's avatar
Arne Graf committed
1042

Arne Graf's avatar
Arne Graf committed
1043 1044 1045 1046 1047
              file << "VECTORS GradientTarget" << name << " float" << std::endl;
              for (int i = 0; i < _grid->GetnPoints(); ++i) {
                   file << gradarray[i]._x << " " << gradarray[i]._y << " 0.0" << std::endl;
              }

Arne Graf's avatar
Arne Graf committed
1048

Arne Graf's avatar
Arne Graf committed
1049
         }
Arne Graf's avatar
Arne Graf committed
1050 1051
    }
    file.close();
Arne Graf's avatar
Arne Graf committed
1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149
}

//@todo: @ar.graf: mode is argument, which should not be needed, the info is stored in members like speedmode, ...
double UnivFFviaFM::getCostToDestination(const int destID, const Point& position, int mode) {
     assert(_grid->includesPoint(position));
     if (_costFieldWithKey.count(destID)==1 && _costFieldWithKey[destID]) {
          return _costFieldWithKey[destID][_grid->getKeyAtPoint(position)];
     } else if (_directCalculation && _doors.count(destID) > 0) {
          _costFieldWithKey[destID] = new double[_nPoints];
          if (_user == DISTANCE_AND_DIRECTIONS_USED) {
               _directionFieldWithKey[destID] = new Point[_nPoints];
          } else {
               _directionFieldWithKey[destID] = nullptr;
          }

          addTarget(destID, _costFieldWithKey[destID], _directionFieldWithKey[destID]);
          getCostToDestination(destID, position, mode);
     }
     return 0.;
}

double UnivFFviaFM::getCostToDestination(const int destID, const Point& position) {
     assert(_grid->includesPoint(position));
     if (_costFieldWithKey.count(destID)==1 && _costFieldWithKey[destID]) {
          return _costFieldWithKey[destID][_grid->getKeyAtPoint(position)];
     } else if (_directCalculation && _doors.count(destID) > 0) {
          _costFieldWithKey[destID] = new double[_nPoints];
          if (_user == DISTANCE_AND_DIRECTIONS_USED) {
               _directionFieldWithKey[destID] = new Point[_nPoints];
          } else {
               _directionFieldWithKey[destID] = nullptr;
          }

          addTarget(destID, _costFieldWithKey[destID], _directionFieldWithKey[destID]);
          getCostToDestination(destID, position);
     }
     return 0.;
}

RectGrid* UnivFFviaFM::getGrid(){
     return _grid;
}

void UnivFFviaFM::getDirectionToUID(int destID, const long int key, Point& direction, int mode){
     assert(key > 0 && key < _nPoints);
     if (_directionFieldWithKey.count(destID)==1 && _directionFieldWithKey[destID]) {
          direction = _directionFieldWithKey[destID][key];
     } else if (_directCalculation && _doors.count(destID) > 0) {
          //free memory if needed
          if (_costFieldWithKey.count(destID) == 1 && _costFieldWithKey[destID]) {
               delete[] _costFieldWithKey[destID];
          }
          //allocate memory
          _costFieldWithKey[destID] = new double[_nPoints];
          if (_user == DISTANCE_AND_DIRECTIONS_USED) {
               _directionFieldWithKey[destID] = new Point[_nPoints];
          } else {
               _directionFieldWithKey[destID] = nullptr;
          }

          //calculate destID's fields and call function
          addTarget(destID, _costFieldWithKey[destID], _directionFieldWithKey[destID]);
          getDirectionToUID(destID, key, direction, mode);
     }
     return;
}

void UnivFFviaFM::getDirectionToUID(int destID, const long int key, Point& direction){
     assert(key > 0 && key < _nPoints);
     if (_directionFieldWithKey.count(destID)==1 && _directionFieldWithKey[destID]) {
          direction = _directionFieldWithKey[destID][key];
     } else if (_directCalculation && _doors.count(destID) > 0) {
          //free memory if needed
          if (_costFieldWithKey.count(destID) == 1 && _costFieldWithKey[destID]) {
               delete[] _costFieldWithKey[destID];
          }
          //allocate memory
          _costFieldWithKey[destID] = new double[_nPoints];
          if (_user == DISTANCE_AND_DIRECTIONS_USED) {
               _directionFieldWithKey[destID] = new Point[_nPoints];
          } else {
               _directionFieldWithKey[destID] = nullptr;
          }

          //calculate destID's fields and call function
          addTarget(destID, _costFieldWithKey[destID], _directionFieldWithKey[destID]);
          getDirectionToUID(destID, key, direction);
     }
     return;
}

/* Log:
 * todo:
 *   - implement error treatment: extend fctns to throw errors and handle them
 *   - error treatment will be advantageous, if calculation of FFs can be postponed
 *                                           to be done in Simulation::RunBody, where
 *                                           all cores are available
 *   - (WIP) fill subroom* array with correct values