math::TrajectoryCalculator Class Reference

#include <trajectory.h>

Collaboration diagram for math::TrajectoryCalculator:

Public Member Functions
	TrajectoryCalculator (const std::vector< lib::Target > &targets, const std::vector< lib::TrappyLine > &lines, const std::vector< lib::TrappyCircle > &circles, const std::vector< lib::Hill > &hills, unsigned short num_of_flyers)
	Инициализирует экземпляр класса TrajectoryCalculator.
std::vector< lib::Segment >	GetTrajectory ()
	Возвращает траекторию

Private Member Functions
void	CalculateTrajectory ()
	Рассчитывает траекторию
std::vector< lib::Segment >	GetTrajectoryPart (std::vector< std::size_t > optimal_way, const std::vector< std::shared_ptr< PathWayNode > > &nodes)
	Подсчет части траектории

Private Attributes
std::vector< CircleObstacle >	circles_
std::vector< std::pair< std::size_t, std::size_t > >	forbidden_lines_
unsigned short	number_of_flyers_
std::vector< PolygonObstacle >	polys_
std::vector< Point >	targets_
std::vector< lib::Segment >	trajectory_

Constructor & Destructor Documentation

TrajectoryCalculator()

math::TrajectoryCalculator::TrajectoryCalculator ( const std::vector< lib::Target > & targets, const std::vector< lib::TrappyLine > & lines, const std::vector< lib::TrappyCircle > & circles, const std::vector< lib::Hill > & hills, unsigned short num_of_flyers )

inline

Инициализирует экземпляр класса TrajectoryCalculator.

Parameters

targets	контрольные точки
lines	запрещённые перелеты
circles	круговые препятствия
hills	многоугольные препятствия

      : number_of_flyers_{num_of_flyers} {
    for (auto& target : targets) targets_.push_back(Point(target.GetPoint()));
 
    for (auto& line : lines) {
      std::pair<std::size_t, std::size_t> indexes;
      std::pair<lib::Target, lib::Target> points = line.GetTargets();
      for (std::size_t i = 0; i < targets.size(); ++i)
        if (targets[i] == points.first)
          indexes.first = i;
        else if (targets[i] == points.second)
          indexes.second = i;
      forbidden_lines_.push_back(indexes);
    }
 
    for (auto& circle : circles)
      circles_.push_back(
          CircleObstacle(Point(circle.GetCenter()), circle.GetRadius()));
 
    for (auto& hill : hills) {
      std::vector<Point> vertexes;
      for (auto& vertex : hill.GetVertices()) vertexes.push_back(Point(vertex));
      polys_.push_back(PolygonObstacle(vertexes));
    }
 
    CalculateTrajectory();
  }

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Member Function Documentation

CalculateTrajectory()

void math::TrajectoryCalculator::CalculateTrajectory ( )

private

Рассчитывает траекторию

                                               {
  // Матрица смежности контрольных точек
  std::vector<std::vector<double>> matrix(targets_.size());
  for (auto& elem : matrix) elem.resize(targets_.size());
 
  // Матрица оптимальных путей между контрольными точками
  std::vector<std::vector<std::vector<Segment>>> optimal_ways(targets_.size());
  for (auto& elem : optimal_ways) elem.resize(targets_.size());
 
  // Заполнение матриц
  OptimalWayCalculator owc(circles_, polys_);
 
  for (std::size_t i = 0; i < targets_.size(); ++i) {
    matrix[i][i] = inf;
    for (std::size_t j = 0; j < i; ++j) {
      owc.FindOptimalWay(targets_[i], targets_[j]);
      std::vector<Segment> segment_way = owc.GetTrajectoryPart();
 
      optimal_ways[i][j] = segment_way;
      std::reverse(segment_way.begin(), segment_way.end());
      for (auto& seg_part : segment_way) {
        if (seg_part.IsArc())
          seg_part =
              Segment(seg_part.End(), seg_part.Start(), seg_part.Center());
        else
          seg_part = Segment(seg_part.End(), seg_part.Start());
      }
      optimal_ways[j][i] = segment_way;
 
      matrix[i][j] = owc.GetOptimalWayLength();
      matrix[j][i] = owc.GetOptimalWayLength();
    }
  }
 
  for (auto& line : forbidden_lines_) {
    matrix[line.first][line.second] = inf;
    matrix[line.second][line.first] = inf;
  }
 
  // Просчет кратчайшей траектории по алгоритму Литтла
  AdjacencyMatrix adj_matrix = AdjacencyMatrix::WithExtraRowCol(matrix);
  TravellingSalesmansProblem tsp(adj_matrix, number_of_flyers_);
  std::vector<std::size_t> traj = tsp.GetTrajectory();
 
  // Объединение частей траектории
  for (std::size_t i = 0; i < traj.size(); ++i) {
    trajectory_.insert(
        trajectory_.end(),
        optimal_ways[traj[i]][traj[(i + 1) % traj.size()]].begin(),
        optimal_ways[traj[i]][traj[(i + 1) % traj.size()]].end());
  }
}

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GetTrajectory()

std::vector< lib::Segment > math::TrajectoryCalculator::GetTrajectory ( )

inline

Возвращает траекторию

{ return trajectory_; }

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GetTrajectoryPart()

std::vector< lib::Segment > math::TrajectoryCalculator::GetTrajectoryPart ( std::vector< std::size_t > optimal_way, const std::vector< std::shared_ptr< PathWayNode > > & nodes )

private

Подсчет части траектории

Parameters

optimal_way	порядок обхода точек
nodes	вершины графа

Returns

часть траектории

Member Data Documentation

circles_

std::vector<CircleObstacle> math::TrajectoryCalculator::circles_

private

forbidden_lines_

std::vector<std::pair<std::size_t, std::size_t> > math::TrajectoryCalculator::forbidden_lines_

private

number_of_flyers_

unsigned short math::TrajectoryCalculator::number_of_flyers_

private

polys_

std::vector<PolygonObstacle> math::TrajectoryCalculator::polys_

private

targets_

std::vector<Point> math::TrajectoryCalculator::targets_

private

trajectory_

std::vector<lib::Segment> math::TrajectoryCalculator::trajectory_

private

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The documentation for this class was generated from the following files:

• math/trajectory.h
• math/trajectory.cpp