cppvisgraph/src/cppvisgraph/vis_graph.hpp at master · emranemon/cppvisgraph · GitHub

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// The MIT License (MIT)

// https://github.com/emranemon

// Permission is hereby granted, free of charge, to any person obtaining a copy

// of this software and associated documentation files (the "Software"), to deal

// in the Software without restriction, including without limitation the rights

// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

// copies of the Software, and to permit persons to whom the Software is

// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all

// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE

// SOFTWARE.

#ifndef CPPVISGRAPH_VIS_GRAPH_HPP

#define CPPVISGRAPH_VIS_GRAPH_HPP

#include "graph.hpp"

#include "visible_vertices.hpp"

#include "shortest_path.hpp"

#include <iostream>

#include <fstream>

#include <vector>

#include <unordered_map>

#include <unordered_set>

#include <algorithm>

#include <cmath>

#include <queue>

#include <future>

#include <functional>

using namespace std::placeholders;

namespace cppvisgraph

{

class VisGraph

{

private:

Graph graph;

Graph visgraph;

public:

void load(const std::string& filename)

{

// Load obstacle graph and visibility graph from file

std::ifstream file(filename, std::ios::binary);

if (file.is_open())

{

// Read the graph and visgraph from the file

// Assuming the file format is compatible with the class structure

file.read(reinterpret_cast<char*>(&graph), sizeof(Graph));

file.read(reinterpret_cast<char*>(&visgraph), sizeof(Graph));

file.close();

}

else

{

// File open error

std::cerr << "Error: Failed to open file " << filename << std::endl;

}

void save(const std::string& filename)

{

// Save obstacle graph and visibility graph to file

std::ofstream file(filename, std::ios::binary);

if (file.is_open())

{

// Write the graph and visgraph to the file

// Assuming the file format is compatible with the class structure

file.write(reinterpret_cast<const char*>(&graph), sizeof(Graph));

file.write(reinterpret_cast<const char*>(&visgraph), sizeof(Graph));

file.close();

}

else

{

// File open error

std::cerr << "Error: Failed to open file " << filename << std::endl;

}

/**

* @brief Build visibility graph based on a list of polygons.

* This method constructs a visibility graph based on a list of polygons. The visibility graph

* represents the visibility relationships between points in the given polygons.

* @param input List of polygons, where each polygon is represented by a vector of points.

* Each polygon should be a list of in-order (clockwise or counter-clockwise) Points.

* If there's only one polygon, it must still be a list within a list, e.g.,

* [[Point(0,0), Point(2,0), Point(2,1)]].

* @param multi_thread Flag indicating whether to use multi-threading during the build process.

* @param status Flag indicating whether to print status information during the build process.

* @note The implementation details of the visibility graph construction go here.

void build(const std::vector<std::vector<Point>>& input, const bool multi_thread = true, const bool status = false)

{

// Build visibility graph based on a list of polygons

graph = Graph(input);

visgraph = Graph();

std::vector<Point> points = graph.get_points();

const int batch_size = 10;

if(status)

{

// Implement progress bar

std::cout << "Progress bar is not implemented yet." << std::endl;

}

if (multi_thread)

{

std::vector<std::future<std::vector<Edge>>> futures;

for (size_t i = 0; i < points.size(); i += batch_size)

{

futures.push_back(std::async(std::launch::async, std::bind(&VisGraph::_vis_graph, this, _1, _2), std::cref(graph),

get_batch(points, i, batch_size)));

}

for (auto& future : futures)

{

for (const auto& edge : future.get())

{

visgraph.add_edge(edge);

}

else

{

for (size_t i = 0; i < points.size(); i += batch_size)

{

std::vector<Point> batch = get_batch(points, i, batch_size);

for (const auto& edge : _vis_graph(graph, batch))

{

visgraph.add_edge(edge);

}

std::vector<Point> find_visible(const Point& point)

{

// Find vertices visible from the given point

return VisibleVertices::visible_vertices(point, graph);

}

void update(const std::vector<Point>& points, const Point* origin = nullptr, const Point* destination = nullptr)

{

// Update visgraph by checking visibility of points

for (const auto& p : points)

{

for (const auto& v : VisibleVertices::visible_vertices(p, graph, origin, destination))

{

visgraph.add_edge(Edge(p, v));

}

/**

* @brief Find and return the shortest path between origin and destination.

* This method calculates and returns the in-order list of Points representing

* the shortest path between the given origin and destination Points within

* the visibility graph.

* If the origin or destination Points are not part of the visibility graph,

* their respective visibility edges will be found temporarily for path calculation.

* @param origin The starting Point of the path.

* @param destination The destination Point of the path.

* @return In-order list of Points representing the shortest path found.

std::vector<Point> shortest_path(const Point& origin, const Point& destination)

{

bool origin_exists = visgraph.contains(origin);

bool destination_exists = visgraph.contains(destination);

if (origin_exists && destination_exists)

{

return ShortestPath::get(visgraph, origin, destination);

}

Point* orgn = origin_exists ? nullptr : new Point(origin.x(), origin.y());

Point* dest = destination_exists ? nullptr : new Point(destination.x(), destination.y());

Graph add_to_visg;

if (!origin_exists)

{

for (const auto& v : VisibleVertices::visible_vertices(origin, graph, nullptr, dest))

{

add_to_visg.add_edge(Edge(origin, v));

}

if (!destination_exists)

{

for (const auto& v : VisibleVertices::visible_vertices(destination, graph, orgn))

{

add_to_visg.add_edge(Edge(destination, v));

}

delete orgn;

delete dest;

return ShortestPath::get(visgraph, origin, destination, add_to_visg);

}

int point_in_polygon(const Point& point)

{

// Return the polygon_id if the point is inside a polygon, -1 otherwise

return PolygonUtils::point_in_polygon(point, graph);

}

Point closest_point(const Point& point, int polygon_id, double length = 0.001)

{

// Return the closest point outside the polygon from the given point

return PolygonUtils::closest_point(point, graph, polygon_id, length);

}

private:

std::vector<Edge> _vis_graph(const Graph& graph, const std::vector<Point>& points)

{

// Compute visible edges for a batch of points

std::vector<Edge> visible_edges;

for (const auto& p1 : points)

{

for (const auto& p2 : VisibleVertices::visible_vertices(p1, graph, nullptr, nullptr, "half"))

{

visible_edges.push_back(Edge(p1, p2));

}

return visible_edges;

}

std::vector<Point> get_batch(const std::vector<Point>& points, const size_t index, const int batch_size)

{

// Slice points into batch

return std::vector<Point>(points.begin() + index, points.begin() + std::min(index + batch_size, points.size()));

}

};

} // namespace cppvisgraph

#endif // CPPVISGRAPH_VIS_GRAPH_HPP

cppvisgraph/src/cppvisgraph/vis_graph.hpp at master · emranemon/cppvisgraph · GitHub

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