Indented with src/scripts/indent-emp.
This commit is contained in:
parent
5f263a7753
commit
9b7adfbecc
437 changed files with 52211 additions and 51052 deletions
|
|
@ -22,12 +22,12 @@
|
|||
#include "as.h"
|
||||
|
||||
#if !defined(lint) && !defined(SABER)
|
||||
static char sccsid[] = "@(#)as_winnow.c 1.8 11/13/90";
|
||||
static char sccsid[] = "@(#)as_winnow.c 1.8 11/13/90";
|
||||
#endif /* not lint */
|
||||
|
||||
static struct as_node *
|
||||
as_newnode(struct as_node *backp, struct as_coord c,
|
||||
double inclbcost, double lbcost, double knowncost, double seccost);
|
||||
static struct as_node *as_newnode(struct as_node *backp, struct as_coord c,
|
||||
double inclbcost, double lbcost,
|
||||
double knowncost, double seccost);
|
||||
|
||||
/*
|
||||
* Take a list of neighbor coordinates and winnow them down into
|
||||
|
|
@ -46,132 +46,133 @@ as_newnode(struct as_node *backp, struct as_coord c,
|
|||
int
|
||||
as_winnow(struct as_data *adp, struct as_coord *coords, int ncoords)
|
||||
{
|
||||
int i = 0;
|
||||
int fix_pointer;
|
||||
double knowncost;
|
||||
double incknowncost;
|
||||
double lbcost;
|
||||
double inclbcost;
|
||||
double seccost;
|
||||
struct as_coord *cp;
|
||||
struct as_coord *end;
|
||||
struct as_queue *qp;
|
||||
struct as_node *np;
|
||||
int i = 0;
|
||||
int fix_pointer;
|
||||
double knowncost;
|
||||
double incknowncost;
|
||||
double lbcost;
|
||||
double inclbcost;
|
||||
double seccost;
|
||||
struct as_coord *cp;
|
||||
struct as_coord *end;
|
||||
struct as_queue *qp;
|
||||
struct as_node *np;
|
||||
|
||||
for (cp = coords, end = coords + ncoords; cp < end; cp++) {
|
||||
fix_pointer = 0;
|
||||
incknowncost = (*adp->realcost)(adp->head->np->c, *cp,
|
||||
adp->userdata);
|
||||
knowncost = adp->head->np->knowncost + incknowncost;
|
||||
/*
|
||||
* If this neighbor is already in the queue, we can
|
||||
* save some time.
|
||||
*/
|
||||
qp = as_iscinq(adp, *cp);
|
||||
inclbcost = qp ? qp->np->inclbcost :
|
||||
(*adp->lbcost)(*cp, adp->to, adp->userdata);
|
||||
if (inclbcost < 0.0) /* skip bad cases */
|
||||
continue;
|
||||
lbcost = knowncost + inclbcost;
|
||||
for (cp = coords, end = coords + ncoords; cp < end; cp++) {
|
||||
fix_pointer = 0;
|
||||
incknowncost = (*adp->realcost) (adp->head->np->c, *cp,
|
||||
adp->userdata);
|
||||
knowncost = adp->head->np->knowncost + incknowncost;
|
||||
/*
|
||||
* If this neighbor is already in the queue, we can
|
||||
* save some time.
|
||||
*/
|
||||
qp = as_iscinq(adp, *cp);
|
||||
inclbcost = qp ? qp->np->inclbcost :
|
||||
(*adp->lbcost) (*cp, adp->to, adp->userdata);
|
||||
if (inclbcost < 0.0) /* skip bad cases */
|
||||
continue;
|
||||
lbcost = knowncost + inclbcost;
|
||||
#ifdef DEBUG
|
||||
fprintf(stderr, "\tneighbor %d, %d, lbcost %f ", cp->x, cp->y, lbcost);
|
||||
fprintf(stderr, "\tneighbor %d, %d, lbcost %f ", cp->x, cp->y,
|
||||
lbcost);
|
||||
#endif /* DEBUG */
|
||||
/*
|
||||
* If this neighbor is already in the queue, check to
|
||||
* see which has the lower cost. If the one already in
|
||||
* the queue is cheaper, skip this neighbor as bad. If
|
||||
* the neighbor does, delete the one in the queue.
|
||||
*/
|
||||
if (qp) {
|
||||
if (qp->np->lbcost <= lbcost) {
|
||||
/*
|
||||
* If this neighbor is already in the queue, check to
|
||||
* see which has the lower cost. If the one already in
|
||||
* the queue is cheaper, skip this neighbor as bad. If
|
||||
* the neighbor does, delete the one in the queue.
|
||||
*/
|
||||
if (qp) {
|
||||
if (qp->np->lbcost <= lbcost) {
|
||||
#ifdef DEBUG
|
||||
fprintf(stderr, "old, loses to %f\n", qp->np->lbcost);
|
||||
fprintf(stderr, "old, loses to %f\n", qp->np->lbcost);
|
||||
#endif /* DEBUG */
|
||||
continue;
|
||||
} else {
|
||||
continue;
|
||||
} else {
|
||||
#ifdef DEBUG
|
||||
fprintf(stderr, "old, wins over %f\n", qp->np->lbcost);
|
||||
fprintf(stderr, "old, wins over %f\n", qp->np->lbcost);
|
||||
#endif /* DEBUG */
|
||||
if (qp->np->flags & AS_TRIED) {
|
||||
/* should "never happen" */
|
||||
return (0);
|
||||
}
|
||||
if (qp->np->flags & AS_TRIED) {
|
||||
/* should "never happen" */
|
||||
return (0);
|
||||
}
|
||||
/*
|
||||
* The neighbor is better than a previously visited coordinate;
|
||||
* remove the old coordinate from the queue and add it to
|
||||
* the subsumed nodes queue. To get here at
|
||||
* all we can't be the head, thus qp->prev is defined.
|
||||
*/
|
||||
/* Delete from main queue */
|
||||
qp->prev->next = qp->next;
|
||||
if (qp->next)
|
||||
qp->next->prev = qp->prev;
|
||||
/* Delete from main queue */
|
||||
qp->prev->next = qp->next;
|
||||
if (qp->next)
|
||||
qp->next->prev = qp->prev;
|
||||
|
||||
/* Add to subsumed queue */
|
||||
if (adp->subsumed) {
|
||||
adp->subsumed->prev = qp;
|
||||
qp->next = adp->subsumed;
|
||||
} else {
|
||||
qp->next = NULL;
|
||||
}
|
||||
adp->subsumed = qp;
|
||||
adp->subsumed->prev = NULL;
|
||||
fix_pointer = 1;
|
||||
/* Add to subsumed queue */
|
||||
if (adp->subsumed) {
|
||||
adp->subsumed->prev = qp;
|
||||
qp->next = adp->subsumed;
|
||||
} else {
|
||||
qp->next = NULL;
|
||||
}
|
||||
adp->subsumed = qp;
|
||||
adp->subsumed->prev = NULL;
|
||||
fix_pointer = 1;
|
||||
/*
|
||||
* At this point, the as_iscinq code may contain bogus pointer
|
||||
* refs. They'll be fixed when as_merge merges the new
|
||||
* neighbors into the main queue.
|
||||
*/
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#ifdef DEBUG
|
||||
else {
|
||||
fprintf(stderr, "new\n");
|
||||
}
|
||||
else {
|
||||
fprintf(stderr, "new\n");
|
||||
}
|
||||
#endif /* DEBUG */
|
||||
|
||||
if (qp)
|
||||
seccost = qp->np->seccost;
|
||||
else
|
||||
seccost = (adp->seccost) ?
|
||||
(*adp->seccost)(*cp, adp->to, adp->userdata) :
|
||||
0.0;
|
||||
np = as_newnode(adp->head->np, *cp, inclbcost, lbcost,
|
||||
if (qp)
|
||||
seccost = qp->np->seccost;
|
||||
else
|
||||
seccost = (adp->seccost) ?
|
||||
(*adp->seccost) (*cp, adp->to, adp->userdata) : 0.0;
|
||||
np = as_newnode(adp->head->np, *cp, inclbcost, lbcost,
|
||||
knowncost, seccost);
|
||||
if (np == NULL)
|
||||
return (0);
|
||||
if (fix_pointer) {
|
||||
if (np == NULL)
|
||||
return (0);
|
||||
if (fix_pointer) {
|
||||
#ifdef DEBUG
|
||||
fprintf(stderr, "Fixing pointer for %d, %d\n", adp->subsumed->np->c.x,
|
||||
adp->subsumed->np->c.y);
|
||||
fprintf(stderr, "Fixing pointer for %d, %d\n",
|
||||
adp->subsumed->np->c.x, adp->subsumed->np->c.y);
|
||||
#endif
|
||||
adp->subsumed->np->back = np;
|
||||
}
|
||||
adp->neighbor_nodes[i++] = np;
|
||||
|
||||
adp->subsumed->np->back = np;
|
||||
}
|
||||
adp->neighbor_nodes[i] = NULL;
|
||||
adp->neighbor_nodes[i++] = np;
|
||||
|
||||
return (i);
|
||||
}
|
||||
adp->neighbor_nodes[i] = NULL;
|
||||
|
||||
return (i);
|
||||
}
|
||||
|
||||
|
||||
static struct as_node *
|
||||
as_newnode(struct as_node *backp, struct as_coord c,
|
||||
double inclbcost, double lbcost, double knowncost, double seccost)
|
||||
double inclbcost, double lbcost, double knowncost,
|
||||
double seccost)
|
||||
{
|
||||
struct as_node *np;
|
||||
struct as_node *np;
|
||||
|
||||
/* Got an interesting coordinate; make a node for it. */
|
||||
AS_NEW_MALLOC(np, struct as_node, NULL);
|
||||
np->flags = 0;
|
||||
np->c = c;
|
||||
np->inclbcost = inclbcost;
|
||||
np->lbcost = lbcost;
|
||||
np->knowncost = knowncost;
|
||||
np->seccost = seccost;
|
||||
np->step = backp->step;
|
||||
np->back = backp;
|
||||
/* Got an interesting coordinate; make a node for it. */
|
||||
AS_NEW_MALLOC(np, struct as_node, NULL);
|
||||
np->flags = 0;
|
||||
np->c = c;
|
||||
np->inclbcost = inclbcost;
|
||||
np->lbcost = lbcost;
|
||||
np->knowncost = knowncost;
|
||||
np->seccost = seccost;
|
||||
np->step = backp->step;
|
||||
np->back = backp;
|
||||
|
||||
return (np);
|
||||
return (np);
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue