CommandPathOptimization.h

Go to the documentation of this file.

#ifndef CommandPathOptimization_h
#define CommandPathOptimization_h
 
#include "CommandCommons.h"
#include "Util/CscCartography.h"
 
using namespace conscience_utils::Cartography;
 
/*
 The command receive a list of path to trace. The command compute the best order to trace and return the list of path ordered.
 */
namespace conscience_core::bridging::commands {
// Structure pour le résultat de l'optimisation des chemins
struct CSC_DLL_IMPORTEXPORT PathOptimizationResult {
  PathOptimizationResult();
 
  PathOptimizationResult(
      const vector<vector<const CscPoint3d*>> &newPathList,
      const vector<int> &orderCorrespondence);
 
  ~PathOptimizationResult();
 
  vector<vector<const CscPoint3d*>> newPathList;
  vector<int> orderCorrespondence;
};
 
COMMAND_RESULT_JSON_SERIALIZER(PathOptimizationResult, newPathList, orderCorrespondence)
 
 
class CSC_DLL_IMPORTEXPORT CommandPathOptimization : public CscCommand {
 
public:
  inline static const CommandTypeId COMMAND_ID = "PATH_OPTIMIZATION";
 
  CommandPathOptimization(
      const CscPoint3d *initialPosition,
      const vector<vector<const CscPoint3d*>> &pathList);
 
  ~CommandPathOptimization() override;
 
protected:
  const CscCommandExecutionResultObject<PathOptimizationResult> *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
  ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
  const CscPoint3d *initialPosition;
  vector<vector<const CscPoint3d*>> pathList;
  double getInterPathDistanceFromPathList(const vector<vector<const CscPoint3d*>> &pathing);
  vector<vector<const CscPoint3d*>> exploreByNearestNeighbor(vector<vector<const CscPoint3d*>> currentPathing, double bestDistance, vector<vector<const CscPoint3d*>> remainPath, vector<int> &pathOrder, vector<int> availableIndices);
};
 
COMMAND_REGISTER(CommandPathOptimization, const CscPoint3d *, const vector<vector<const CscPoint3d*>> &)
COMMAND_TYPE_BUILDER(PathOptimization, CommandPathOptimization, CscPoint3d*, vector<vector<const CscPoint3d*>>)
 
 
}
 
#endif