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router: make it possible for `Astar` to own its graph 

We aren't using this yet however because it requires a substantial
rearrangement of `Router`'s code.
This commit is contained in:
Mikolaj Wielgus 2024-06-27 15:07:58 +02:00
parent 0419904b3f
commit 0b3ebdbe3c
1 changed files with 21 additions and 10 deletions
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31
src/router/astar.rs
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@ -10,7 +10,7 @@ use std::collections::{BinaryHeap, HashMap};
use std::hash::Hash; use std::hash::Hash;
use petgraph::algo::Measure; use petgraph::algo::Measure;
use petgraph::visit::{EdgeRef, GraphBase, IntoEdges}; use petgraph::visit::{EdgeRef, GraphBase, IntoEdgeReferences, IntoEdges};
use thiserror::Error; use thiserror::Error;
use std::cmp::Ordering; use std::cmp::Ordering;
@ -97,19 +97,25 @@ where
pub trait AstarStrategy<G, K, R> pub trait AstarStrategy<G, K, R>
where where
G: IntoEdges, G: GraphBase,
K: Measure + Copy,
G::NodeId: Eq + Hash, G::NodeId: Eq + Hash,
for<'a> &'a G: IntoEdges<NodeId = G::NodeId>,
K: Measure + Copy,
{ {
fn is_goal(&mut self, graph: &G, node: G::NodeId, tracker: &PathTracker<G>) -> Option<R>; fn is_goal(&mut self, graph: &G, node: G::NodeId, tracker: &PathTracker<G>) -> Option<R>;
fn edge_cost(&mut self, graph: &G, edge: G::EdgeRef) -> Option<K>; fn edge_cost<'a>(
&mut self,
graph: &'a G,
edge: <&'a G as IntoEdgeReferences>::EdgeRef,
) -> Option<K>;
fn estimate_cost(&mut self, graph: &G, node: G::NodeId) -> K; fn estimate_cost(&mut self, graph: &G, node: G::NodeId) -> K;
} }
pub struct Astar<G, K> pub struct Astar<G, K>
where where
G: IntoEdges, G: GraphBase,
G::NodeId: Eq + Hash, G::NodeId: Eq + Hash,
for<'a> &'a G: IntoEdges<NodeId = G::NodeId>,
K: Measure + Copy, K: Measure + Copy,
{ {
pub graph: G, pub graph: G,
@ -127,8 +133,9 @@ pub enum AstarError {
pub enum AstarStatus<G, K, R> pub enum AstarStatus<G, K, R>
where where
G: IntoEdges, G: GraphBase,
G::NodeId: Eq + Hash, G::NodeId: Eq + Hash,
for<'a> &'a G: IntoEdges<NodeId = G::NodeId>,
K: Measure + Copy, K: Measure + Copy,
{ {
Running, Running,
@ -137,8 +144,9 @@ where
impl<G, K> Astar<G, K> impl<G, K> Astar<G, K>
where where
G: IntoEdges, G: GraphBase,
G::NodeId: Eq + Hash, G::NodeId: Eq + Hash,
for<'a> &'a G: IntoEdges<NodeId = G::NodeId>,
K: Measure + Copy, K: Measure + Copy,
{ {
pub fn new<R>(graph: G, start: G::NodeId, strategy: &mut impl AstarStrategy<G, K, R>) -> Self { pub fn new<R>(graph: G, start: G::NodeId, strategy: &mut impl AstarStrategy<G, K, R>) -> Self {
@ -152,8 +160,10 @@ where
let zero_score = K::default(); let zero_score = K::default();
this.scores.insert(start, zero_score); this.scores.insert(start, zero_score);
this.visit_next this.visit_next.push(MinScored(
.push(MinScored(strategy.estimate_cost(&&graph, start), start)); strategy.estimate_cost(&&this.graph, start),
start,
));
this this
} }
@ -224,8 +234,9 @@ pub fn astar<G, K, R>(
strategy: &mut impl AstarStrategy<G, K, R>, strategy: &mut impl AstarStrategy<G, K, R>,
) -> Result<(K, Vec<G::NodeId>, R), AstarError> ) -> Result<(K, Vec<G::NodeId>, R), AstarError>
where where
G: IntoEdges, G: GraphBase,
G::NodeId: Eq + Hash, G::NodeId: Eq + Hash,
for<'a> &'a G: IntoEdges<NodeId = G::NodeId>,
K: Measure + Copy, K: Measure + Copy,
{ {
let mut astar = Astar::new(graph, start, strategy); let mut astar = Astar::new(graph, start, strategy);