225 lines
6.5 KiB
C++
225 lines
6.5 KiB
C++
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//
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//=======================================================================
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// Copyright (c) 2004 Kristopher Beevers
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//
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// Distributed under the Boost Software License, Version 1.0. (See
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// accompanying file LICENSE_1_0.txt or copy at
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// http://www.boost.org/LICENSE_1_0.txt)
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//=======================================================================
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//
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#include <boost/graph/astar_search.hpp>
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#include <boost/graph/adjacency_list.hpp>
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#include <boost/graph/random.hpp>
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#include <boost/random.hpp>
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#include <boost/graph/graphviz.hpp>
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#include <ctime>
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#include <vector>
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#include <list>
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#include <iostream>
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#include <fstream>
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#include <math.h> // for sqrt
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using namespace boost;
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using namespace std;
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// auxiliary types
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struct location
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{
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float y, x; // lat, long
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};
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typedef float cost;
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template <class Name, class LocMap>
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class city_writer {
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public:
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city_writer(Name n, LocMap l, float _minx, float _maxx,
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float _miny, float _maxy,
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unsigned int _ptx, unsigned int _pty)
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: name(n), loc(l), minx(_minx), maxx(_maxx), miny(_miny),
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maxy(_maxy), ptx(_ptx), pty(_pty) {}
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template <class Vertex>
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void operator()(ostream& out, const Vertex& v) const {
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float px = 1 - (loc[v].x - minx) / (maxx - minx);
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float py = (loc[v].y - miny) / (maxy - miny);
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out << "[label=\"" << name[v] << "\", pos=\""
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<< static_cast<unsigned int>(ptx * px) << ","
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<< static_cast<unsigned int>(pty * py)
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<< "\", fontsize=\"11\"]";
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}
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private:
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Name name;
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LocMap loc;
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float minx, maxx, miny, maxy;
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unsigned int ptx, pty;
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};
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template <class WeightMap>
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class time_writer {
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public:
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time_writer(WeightMap w) : wm(w) {}
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template <class Edge>
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void operator()(ostream &out, const Edge& e) const {
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out << "[label=\"" << wm[e] << "\", fontsize=\"11\"]";
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}
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private:
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WeightMap wm;
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};
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// euclidean distance heuristic
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template <class Graph, class CostType, class LocMap>
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class distance_heuristic : public astar_heuristic<Graph, CostType>
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{
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public:
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typedef typename graph_traits<Graph>::vertex_descriptor Vertex;
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distance_heuristic(LocMap l, Vertex goal)
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: m_location(l), m_goal(goal) {}
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CostType operator()(Vertex u)
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{
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CostType dx = m_location[m_goal].x - m_location[u].x;
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CostType dy = m_location[m_goal].y - m_location[u].y;
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return ::sqrt(dx * dx + dy * dy);
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}
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private:
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LocMap m_location;
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Vertex m_goal;
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};
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struct found_goal {}; // exception for termination
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// visitor that terminates when we find the goal
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template <class Vertex>
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class astar_goal_visitor : public boost::default_astar_visitor
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{
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public:
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astar_goal_visitor(Vertex goal) : m_goal(goal) {}
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template <class Graph>
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void examine_vertex(Vertex u, Graph& g) {
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if(u == m_goal)
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throw found_goal();
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}
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private:
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Vertex m_goal;
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};
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int main(int argc, char **argv)
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{
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// specify some types
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typedef adjacency_list<listS, vecS, undirectedS, no_property,
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property<edge_weight_t, cost> > mygraph_t;
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typedef property_map<mygraph_t, edge_weight_t>::type WeightMap;
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typedef mygraph_t::vertex_descriptor vertex;
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typedef mygraph_t::edge_descriptor edge_descriptor;
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typedef std::pair<int, int> edge;
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// specify data
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enum nodes {
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Troy, LakePlacid, Plattsburgh, Massena, Watertown, Utica,
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Syracuse, Rochester, Buffalo, Ithaca, Binghamton, Woodstock,
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NewYork, N
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};
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const char *name[] = {
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"Troy", "Lake Placid", "Plattsburgh", "Massena",
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"Watertown", "Utica", "Syracuse", "Rochester", "Buffalo",
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"Ithaca", "Binghamton", "Woodstock", "New York"
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};
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location locations[] = { // lat/long
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{42.73, 73.68}, {44.28, 73.99}, {44.70, 73.46},
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{44.93, 74.89}, {43.97, 75.91}, {43.10, 75.23},
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{43.04, 76.14}, {43.17, 77.61}, {42.89, 78.86},
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{42.44, 76.50}, {42.10, 75.91}, {42.04, 74.11},
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{40.67, 73.94}
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};
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edge edge_array[] = {
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edge(Troy,Utica), edge(Troy,LakePlacid),
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edge(Troy,Plattsburgh), edge(LakePlacid,Plattsburgh),
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edge(Plattsburgh,Massena), edge(LakePlacid,Massena),
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edge(Massena,Watertown), edge(Watertown,Utica),
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edge(Watertown,Syracuse), edge(Utica,Syracuse),
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edge(Syracuse,Rochester), edge(Rochester,Buffalo),
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edge(Syracuse,Ithaca), edge(Ithaca,Binghamton),
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edge(Ithaca,Rochester), edge(Binghamton,Troy),
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edge(Binghamton,Woodstock), edge(Binghamton,NewYork),
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edge(Syracuse,Binghamton), edge(Woodstock,Troy),
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edge(Woodstock,NewYork)
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};
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unsigned int num_edges = sizeof(edge_array) / sizeof(edge);
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cost weights[] = { // estimated travel time (mins)
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96, 134, 143, 65, 115, 133, 117, 116, 74, 56,
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84, 73, 69, 70, 116, 147, 173, 183, 74, 71, 124
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};
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// create graph
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mygraph_t g(N);
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WeightMap weightmap = get(edge_weight, g);
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for(std::size_t j = 0; j < num_edges; ++j) {
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edge_descriptor e; bool inserted;
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boost::tie(e, inserted) = add_edge(edge_array[j].first,
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edge_array[j].second, g);
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weightmap[e] = weights[j];
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}
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// pick random start/goal
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boost::mt19937 gen(std::time(0));
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vertex start = random_vertex(g, gen);
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vertex goal = random_vertex(g, gen);
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cout << "Start vertex: " << name[start] << endl;
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cout << "Goal vertex: " << name[goal] << endl;
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ofstream dotfile;
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dotfile.open("test-astar-cities.dot");
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write_graphviz(dotfile, g,
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city_writer<const char **, location*>
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(name, locations, 73.46, 78.86, 40.67, 44.93,
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480, 400),
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time_writer<WeightMap>(weightmap));
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vector<mygraph_t::vertex_descriptor> p(num_vertices(g));
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vector<cost> d(num_vertices(g));
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try {
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// call astar named parameter interface
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astar_search_tree
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(g, start,
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distance_heuristic<mygraph_t, cost, location*>
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(locations, goal),
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predecessor_map(make_iterator_property_map(p.begin(), get(vertex_index, g))).
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distance_map(make_iterator_property_map(d.begin(), get(vertex_index, g))).
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visitor(astar_goal_visitor<vertex>(goal)));
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} catch(found_goal fg) { // found a path to the goal
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list<vertex> shortest_path;
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for(vertex v = goal;; v = p[v]) {
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shortest_path.push_front(v);
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if(p[v] == v)
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break;
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}
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cout << "Shortest path from " << name[start] << " to "
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<< name[goal] << ": ";
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list<vertex>::iterator spi = shortest_path.begin();
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cout << name[start];
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for(++spi; spi != shortest_path.end(); ++spi)
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cout << " -> " << name[*spi];
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cout << endl << "Total travel time: " << d[goal] << endl;
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return 0;
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}
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cout << "Didn't find a path from " << name[start] << "to"
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<< name[goal] << "!" << endl;
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return 0;
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}
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