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ASTAR & PATHLINE
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Frank
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@ -157,6 +157,8 @@ ASTAR = {
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-- @field #number surfacetype Surface type.
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-- @field #table valid Cached valid/invalid nodes.
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-- @field #table cost Cached cost.
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-- @field Core.Pathline#PATHLINE pathline Pathline that node is part of.
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-- @field Core.Pathline#PATHLINE.Point pathpoint Pathline point.
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--- ASTAR infinity.
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-- @field #number INF
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@ -264,21 +266,24 @@ end
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--- Adds nodes to the table of grid nodes from a PATHLINE.
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-- @param #ASTAR self
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-- @param #string PathlineName Name of pathline. Has to exist.
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-- @param Core.Pathline#PATHLINE Pathline Pathline or name of pathline. Has to exist.
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-- @return #ASTAR self
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function ASTAR:AddNodeFromPathlineName(PathlineName)
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function ASTAR:AddNodeFromPathlineName(Pathline)
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local pathline=PATHLINE:FindByName(PathlineName)
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if pathline then
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local coords=pathline:GetCoordinats()
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for _,_coord in pairs(coords) do
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local c=_coord --Core.Point#COORDINATE
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env.info("FF 100")
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self:AddNodeFromCoordinate(c)
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if type(Pathline)=="string" then
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Pathline=PATHLINE:FindByName(Pathline)
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end
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if Pathline then
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for i,_point in pairs(Pathline.points) do
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local point=_point --Core.Pathline#PATHLINE.Point
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local coord=COORDINATE:NewFromVec3(point.vec3)
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local node=self:AddNodeFromCoordinate(coord)
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node.pathline=Pathline
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node.pathpoint=point
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end
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else
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env.error("FF error pathline")
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end
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@ -364,6 +369,18 @@ function ASTAR:SetValidNeighbourRoad(MaxDistance)
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return self
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end
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--- Set valid neighbours to be on the same pathline or not further apart than 10 meters.
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-- @param #ASTAR self
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-- @param #number MaxDistance Max distance between nodes in meters. Default is 2000 m.
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-- @return #ASTAR self
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function ASTAR:SetValidNeighbourPathline(MaxDistance)
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self:SetValidNeighbourFunction(ASTAR.Pathline, MaxDistance)
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return self
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end
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--- Set the function which calculates the "cost" to go from one to another node.
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-- The first to arguments of this function are always the two nodes under consideration. But you can add optional arguments.
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-- Very often the distance between nodes is a good measure for the cost.
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@ -568,6 +585,37 @@ function ASTAR.Road(nodeA, nodeB)
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end
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--- Function to check if two nodes are on the same pathline or if nodes are less than 10 meters apart.
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-- @param #ASTAR.Node nodeA First node.
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-- @param #ASTAR.Node nodeB Other node.
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-- @param #number distmax Max distance in meters. Default is 10 m.
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-- @return #boolean If true, two nodes are connected.
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function ASTAR.Pathline(nodeA, nodeB, distmax)
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distmax=distmax or 10
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if nodeA.pathpoint.name==nodeB.pathpoint.name then
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local pathline=nodeA.pathline
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local idxA=pathline:_GetPointIndex(nodeA.pathpoint)
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local idxB=pathline:_GetPointIndex(nodeB.pathpoint)
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if math.abs(idxA-idxB)<=1 then
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return true
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end
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else
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local dist=nodeA.coordinate:Get2DDistance(nodeB.coordinate)
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if dist<distmax then
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return true
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end
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end
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return false
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end
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--- Function to check if distance between two nodes is less than a threshold distance.
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-- @param #ASTAR.Node nodeA First node.
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-- @param #ASTAR.Node nodeB Other node.
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@ -591,7 +639,7 @@ end
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-- @param #ASTAR.Node nodeB Other node.
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-- @return #number Distance between the two nodes.
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function ASTAR.Dist2D(nodeA, nodeB)
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local dist=nodeA.coordinate:Get2DDistance(nodeB)
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local dist=nodeA.coordinate:Get2DDistance(nodeB.coordinate)
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return dist
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end
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@ -744,6 +792,9 @@ function ASTAR:GetPath(ExcludeStartNode, ExcludeEndNode)
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-- Get current node.
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local current=self:_LowestFscore(openset, f_score)
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self:I(current)
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self:I(goal)
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-- Check if we are at the end node.
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if current.id==goal.id then
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@ -871,6 +922,8 @@ function ASTAR:_HeuristicCost(nodeA, nodeB)
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cost=self:_DistNodes(nodeA, nodeB)
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end
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self:T(self.lid..string.format("Cost nodeA=%d --> nodeB=%d = %.1f", nodeA.id, nodeB.id, cost))
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nodeA.cost[nodeB.id]=cost
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nodeB.cost[nodeA.id]=cost -- Symmetric problem.
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@ -21,6 +21,7 @@
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-- @field #string lid Class id string for output to DCS log file.
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-- @field #string name Name of the path line.
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-- @field #table points List of 3D points defining the path.
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-- @field #number counter Running number counting the point IDs.
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-- @extends Core.Base#BASE
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--- *The shortest distance between two points is a straight line.* -- Archimedes
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@ -59,10 +60,13 @@ PATHLINE = {
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ClassName = "PATHLINE",
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lid = nil,
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points = {},
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counter = 0,
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}
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--- Point of line.
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-- @type PATHLINE.Point
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-- @field #number uid Unique ID of this point.
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-- @field #string name Name of the pathline this point belongs to.
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-- @field DCS#Vec3 vec3 3D position.
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-- @field DCS#Vec2 vec2 2D position.
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-- @field #number surfaceType Surface type.
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@ -73,7 +77,7 @@ PATHLINE = {
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--- PATHLINE class version.
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-- @field #string version
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PATHLINE.version="0.1.0"
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PATHLINE.version="0.2.0"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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@ -312,7 +316,7 @@ function PATHLINE:MarkPoints(Switch)
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if Switch==false then
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if point.markerID then
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UTILS.RemoveMark(point.markerID, Delay)
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UTILS.RemoveMark(point.markerID)
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end
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else
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@ -323,7 +327,7 @@ function PATHLINE:MarkPoints(Switch)
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point.markerID=UTILS.GetMarkID()
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local text=string.format("Pathline %s: Point #%d\nSurface Type=%d\nHeight=%.1f m\nDepth=%.1f m", self.name, i, point.surfaceType, point.landHeight, point.depth)
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local text=string.format("Pathline %s: Point #%d [UID=%d]\nSurface Type=%d\nHeight=%.1f m\nDepth=%.1f m", self.name, i, point.uid, point.surfaceType, point.landHeight, point.depth)
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trigger.action.markToAll(point.markerID, text, point.vec3, "")
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@ -344,6 +348,11 @@ function PATHLINE:_CreatePoint(Vec)
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local point={} --#PATHLINE.Point
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self.counter=self.counter+1
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point.uid=self.counter
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point.name=self.name
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if Vec.z then
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-- Given vec is 3D
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point.vec3=UTILS.DeepCopy(Vec)
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@ -365,6 +374,23 @@ function PATHLINE:_CreatePoint(Vec)
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return point
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end
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--- Get index of point in the lua table.
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-- @param #PATHLINE self
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-- @param #Pathline.Point Point Given point.
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-- @return #number index
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function PATHLINE:_GetPointIndex(Point)
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for i,_point in pairs(self.points) do
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local point=_point --#Pathline.Point
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if point.uid==Point.uid then
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return i
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end
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end
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return nil
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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