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Further refactor

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Reduce code size for astar
This commit is contained in:
tamasmeszaros 2022-06-03 10:17:05 +02:00
parent d9ed45be56
commit 1d3c8ac5b4
1 changed files with 11 additions and 42 deletions
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53
src/libslic3r/AStar.hpp
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@ -53,37 +53,6 @@ template<class T> struct TracerTraits_
template<class T> template<class T>
using TracerNodeT = typename TracerTraits_<remove_cvref_t<T>>::Node; using TracerNodeT = typename TracerTraits_<remove_cvref_t<T>>::Node;
namespace detail {
// Helper functions dispatching calls through the TracerTraits_ interface
template<class T> using TracerTraits = TracerTraits_<remove_cvref_t<T>>;
template<class T, class Fn>
void foreach_reachable(const T &tracer, const TracerNodeT<T> &from, Fn &&fn)
{
TracerTraits<T>::foreach_reachable(tracer, from, fn);
}
template<class T>
float trace_distance(const T &tracer, const TracerNodeT<T> &a, const TracerNodeT<T> &b)
{
return TracerTraits<T>::distance(tracer, a, b);
}
template<class T>
float goal_heuristic(const T &tracer, const TracerNodeT<T> &n)
{
return TracerTraits<T>::goal_heuristic(tracer, n);
}
template<class T>
size_t unique_id(const T &tracer, const TracerNodeT<T> &n)
{
return TracerTraits<T>::unique_id(tracer, n);
}
} // namespace astar_detail
constexpr size_t Unassigned = size_t(-1); constexpr size_t Unassigned = size_t(-1);
template<class Tracer> template<class Tracer>
@ -126,10 +95,9 @@ bool search_route(const Tracer &tracer,
It out, It out,
NodeMap &&cached_nodes = {}) NodeMap &&cached_nodes = {})
{ {
using namespace detail; using Node = TracerNodeT<Tracer>;
using QNode = QNode<Tracer>;
using Node = TracerNodeT<Tracer>; using TracerTraits = TracerTraits_<remove_cvref_t<Tracer>>;
using QNode = QNode<Tracer>;
struct LessPred { // Comparison functor needed by the priority queue struct LessPred { // Comparison functor needed by the priority queue
NodeMap &m; NodeMap &m;
@ -145,12 +113,13 @@ bool search_route(const Tracer &tracer,
LessPred{cached_nodes}); LessPred{cached_nodes});
QNode initial{source, /*parent = */ Unassigned, /*g = */0.f}; QNode initial{source, /*parent = */ Unassigned, /*g = */0.f};
size_t source_id = unique_id(tracer, source); size_t source_id = TracerTraits::unique_id(tracer, source);
cached_nodes[source_id] = initial; cached_nodes[source_id] = initial;
qopen.push(source_id); qopen.push(source_id);
size_t goal_id = goal_heuristic(tracer, source) < 0.f ? source_id : size_t goal_id = TracerTraits::goal_heuristic(tracer, source) < 0.f ?
Unassigned; source_id :
Unassigned;
while (goal_id == Unassigned && !qopen.empty()) { while (goal_id == Unassigned && !qopen.empty()) {
size_t q_id = qopen.top(); size_t q_id = qopen.top();
@ -160,13 +129,13 @@ bool search_route(const Tracer &tracer,
// This should absolutely be initialized in the cache already // This should absolutely be initialized in the cache already
assert(!std::isinf(q.g)); assert(!std::isinf(q.g));
foreach_reachable(tracer, q.node, [&](const Node &succ_nd) { TracerTraits::foreach_reachable(tracer, q.node, [&](const Node &succ_nd) {
if (goal_id != Unassigned) if (goal_id != Unassigned)
return true; return true;
float h = goal_heuristic(tracer, succ_nd); float h = TracerTraits::goal_heuristic(tracer, succ_nd);
float dst = trace_distance(tracer, q.node, succ_nd); float dst = TracerTraits::distance(tracer, q.node, succ_nd);
size_t succ_id = unique_id(tracer, succ_nd); size_t succ_id = TracerTraits::unique_id(tracer, succ_nd);
QNode qsucc_nd{succ_nd, q_id, q.g + dst, h}; QNode qsucc_nd{succ_nd, q_id, q.g + dst, h};
if (h < 0.f) { if (h < 0.f) {