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| public class SearchPath { | |
| /* private PriorityQueue<Node> pqueue; | |
| private HashSet<Node> pqueueHash; | |
| SearchPath(Node start){ | |
| pqueue = new PriorityQueue<>(); | |
| pqueueHash = new HashSet<>(); | |
| //Set initial condition | |
| start.setCost(0); | |
| pqueue.offer(start); | |
| } | |
| private boolean dijkstra(Centroid centroid, ArrayList<ArrayList<Node>> nodes){ | |
| if(!pqueue.isEmpty()){ | |
| //Set current to best possible node in priority queue, comparison can be found i Node class | |
| Node current = pqueue.poll(); | |
| pqueueHash.remove(current); | |
| if(current.isClosed()){ | |
| return true; | |
| } | |
| current.setClosed(true); | |
| centroid.addNode(current); | |
| current.setNeighbours(addNeighbours(current, nodes)); | |
| current.setBelongsToCentroid(centroid); //OBS! This may be wrong | |
| for (int i = 0; i < current.getNeighbours().size(); i++) { | |
| Node neighbour = current.getNeighbours().get(i); | |
| double tentative_g_score = (Helpers.PlanarEuclideanDistance(centroid.getX(), centroid.getY(), neighbour.getX(), neighbour.getY())) + Helpers.ColorEuclideanDistance(centroid.getColor(), neighbour.getColor()); | |
| //If neighbours is in closed list; ignore it | |
| if(neighbour.isClosed() && tentative_g_score > neighbour.getCost()){ | |
| continue; | |
| } | |
| //If open list contains neighbour OR it is better, set parent to current node. | |
| if(!pqueueHash.contains(neighbour) || tentative_g_score < neighbour.getCost()){ | |
| current.setBelongsToCentroid(centroid); | |
| centroid.addNode(current); | |
| neighbour.setParent(current); | |
| neighbour.setCost(tentative_g_score); | |
| neighbour.setBelongsToCentroid(centroid); //OBS! This may be wrong | |
| } | |
| // Add to open list if not already there | |
| if(!pqueueHash.contains(neighbour)){ | |
| pqueue.offer(neighbour); | |
| pqueueHash.add(neighbour); | |
| } | |
| } | |
| return true; | |
| } | |
| return false; | |
| } | |
| public boolean runOneStep(ArrayList<Node> closed, BufferedImage img, Centroid centroid, ArrayList<ArrayList<Node>> nodes){ | |
| return dijkstra(centroid, nodes); | |
| } | |
| private ArrayList<Node> addNeighbours(Node node, ArrayList<ArrayList<Node>> nodes){ | |
| ArrayList<Node> neighbours = new ArrayList<>(); | |
| try{ | |
| Node neighbour = nodes.get((int) node.getX()).get((int) (node.getY()-1)); | |
| if(!neighbour.isClosed()){ | |
| neighbours.add(neighbour); | |
| } | |
| } | |
| catch(Exception ignored){ | |
| } | |
| try{ | |
| Node neighbour = nodes.get((int) node.getX()).get((int) (node.getY()+1)); | |
| if(!neighbour.isClosed()){ | |
| neighbours.add(neighbour); | |
| } | |
| } | |
| catch(Exception ignored){ | |
| } | |
| try{ | |
| Node neighbour = nodes.get((int) node.getX()-1).get((int) (node.getY())); | |
| if(!neighbour.isClosed()){ | |
| neighbours.add(neighbour); | |
| } | |
| } | |
| catch(Exception ignored){ | |
| } | |
| try{ | |
| Node neighbour = nodes.get((int) node.getX()+1).get((int) (node.getY())); | |
| if(!neighbour.isClosed()){ | |
| neighbours.add(neighbour); | |
| } | |
| } | |
| catch(Exception ignored){ | |
| } | |
| return neighbours; | |
| } | |
| */ | |
| } |