package/gonum
1
0
Fork 0
mirror of https://github.com/gonum/gonum.git synced 2025-10-11 18:10:10 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

graph: use iterators directly rather than copying into []graph.Node

Browse Source 
There are still uses in test code; these can remain since they simplify
that code.
This commit is contained in:
Dan Kortschak
2020-06-06 11:20:54 +09:30
parent 91d83a4f35
commit 2bf857dc70
10 changed files with 57 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
graph/path/dynamic/dstarlite.go
View File

@@ -87,7 +87,9 @@ func NewDStarLite(s, t graph.Node, g graph.Graph, h path.Heuristic, m WorldModel
d.queue.insert(d.t, key{d.heuristic(s, t), 0})
for _, n := range graph.NodesOf(g.Nodes()) {
nodes := g.Nodes()
for nodes.Next() {
n := nodes.Node()
switch n.ID() {
case d.s.ID():
d.model.AddNode(d.s)
@@ -97,9 +99,13 @@ func NewDStarLite(s, t graph.Node, g graph.Graph, h path.Heuristic, m WorldModel
d.model.AddNode(newDStarLiteNode(n))
}
}
for _, u := range graph.NodesOf(d.model.Nodes()) {
model := d.model.Nodes()
for model.Next() {
u := model.Node()
uid := u.ID()
for _, v := range graph.NodesOf(g.From(uid)) {
to := g.From(uid)
for to.Next() {
v := to.Node()
vid := v.ID()
w := edgeWeight(d.weight, uid, vid)
if w < 0 {
@@ -195,8 +201,9 @@ func (d *DStarLite) findShortestPath() {
case u.g > u.rhs:
u.g = u.rhs
d.queue.remove(u)
for _, _s := range graph.NodesOf(d.model.To(uid)) {
s := _s.(*dStarLiteNode)
from := d.model.To(uid)
for from.Next() {
s := from.Node().(*dStarLiteNode)
sid := s.ID()
if sid != d.t.ID() {
s.rhs = math.Min(s.rhs, edgeWeight(d.model.Weight, sid, uid)+u.g)
@@ -212,7 +219,9 @@ func (d *DStarLite) findShortestPath() {
if s.rhs == edgeWeight(d.model.Weight, sid, uid)+gOld {
if s.ID() != d.t.ID() {
s.rhs = math.Inf(1)
for _, t := range graph.NodesOf(d.model.From(sid)) {
to := d.model.From(sid)
for to.Next() {
t := to.Node()
tid := t.ID()
s.rhs = math.Min(s.rhs, edgeWeight(d.model.Weight, sid, tid)+t.(*dStarLiteNode).g)
}
@@ -249,8 +258,9 @@ func (d *DStarLite) Step() bool {
var next *dStarLiteNode
dsid := d.s.ID()
for _, _s := range graph.NodesOf(d.model.From(dsid)) {
s := _s.(*dStarLiteNode)
to := d.model.From(dsid)
for to.Next() {
s := to.Node().(*dStarLiteNode)
w := edgeWeight(d.model.Weight, dsid, s.ID()) + s.g
if w < min || (w == min && s.rhs < rhs) {
next = s
@@ -319,7 +329,9 @@ func (d *DStarLite) UpdateWorld(changes []graph.Edge) {
} else if u.rhs == cOld+v.g {
if uid != d.t.ID() {
u.rhs = math.Inf(1)
for _, t := range graph.NodesOf(d.model.From(uid)) {
to := d.model.From(uid)
for to.Next() {
t := to.Node()
u.rhs = math.Min(u.rhs, edgeWeight(d.model.Weight, uid, t.ID())+t.(*dStarLiteNode).g)
}
}
@@ -364,8 +376,9 @@ func (d *DStarLite) Path() (p []graph.Node, weight float64) {
cost float64
)
uid := u.ID()
for _, _v := range graph.NodesOf(d.model.From(uid)) {
v := _v.(*dStarLiteNode)
to := d.model.From(uid)
for to.Next() {
v := to.Node().(*dStarLiteNode)
vid := v.ID()
w := edgeWeight(d.model.Weight, uid, vid)
if rhs := w + v.g; rhs < min || (rhs == min && v.rhs < rhsMin) {