w

src/search-astar.hpp

@@ -11,7 +11,7 @@ namespace floormat {
 
 class world;
 struct point;
-class path_search_result;
+struct path_search_result;
 
 class astar
 {

src/search-node.hpp

@@ -15,7 +15,7 @@ struct path_search_result::pair
 
 struct path_search_result::node
 {
-    friend class path_search_result;
+    friend struct path_search_result;
     friend struct test_app;
 
     node() noexcept;

src/search-result.cpp

@@ -11,7 +11,14 @@ namespace floormat {
 
 namespace {
 
-constexpr size_t min_length = TILE_MAX_DIM*2;
+constexpr auto min_length = TILE_MAX_DIM*2;
+
+void simplify_path(const std::vector<point>& src, std::vector<path_search_result::pair>& dest)
+{
+    dest.clear();
+    fm_assert(!src.empty());
+
+}
 
 } // namespace
 
@@ -77,6 +84,19 @@ bool path_search_result::is_found() const { return _found; }
 void path_search_result::set_found(bool value) { _found = value; }
 uint32_t path_search_result::distance() const { return _distance; }
 void path_search_result::set_distance(uint32_t dist) { _distance = dist; }
+bool path_search_result::is_simplified() const { /*fm_assert(!_node->vec.empty());*/ return !_node->vec_.empty(); }
+auto path_search_result::simplified() -> ArrayView<const pair>
+{
+    if (!_node->vec_.empty())
+        return { _node->vec_.data(), _node->vec_.size() };
+    else
+    {
+        //fm_assert(!_node->vec.empty());
+        simplify_path(_node->vec, _node->vec_);
+        fm_assert(!_node->vec_.empty());
+        return { _node->vec_.data(), _node->vec_.size() };
+    }
+}
 
 auto path_search_result::data() const -> const point* { return _node->vec.data(); }
 path_search_result::operator bool() const { return !_node->vec.empty(); }
@@ -93,6 +113,7 @@ const point& path_search_result::operator[](size_t index) const
     fm_debug_assert(index < _node->vec.size());
     return data()[index];
 }
+
 vector_wrapper<point, vector_wrapper_repr::ref> path_search_result::raw_path() { fm_assert(_node); return {_node->vec}; }
 ArrayView<const point> path_search_result::path() const { fm_assert(_node); return {_node->vec.data(), _node->vec.size()}; }
 

src/search-result.hpp

@@ -1,5 +1,4 @@
 #pragma once
-#include "compat/defs.hpp"
 #include "compat/vector-wrapper-fwd.hpp"
 #include "src/global-coords.hpp"
 #include <Corrade/Containers/Pointer.h>
@@ -8,20 +7,12 @@ namespace floormat {
 
 struct point;
 
-class path_search_result final
+struct path_search_result final
 {
     friend struct test_app;
     struct pair;
     struct node;
 
-    Pointer<node> _node;
-    float _time = 0;
-    uint32_t _cost = 0, _distance = (uint32_t)-1;
-    bool _found : 1 = false;
-
-    static Pointer<node> _pool; // NOLINT(*-avoid-non-const-global-variables)
-
-public:
     const point* data() const;
     const point& operator[](size_t index) const;
     size_t size() const;
@@ -34,10 +25,10 @@ class path_search_result final
     uint32_t distance() const;
     void set_distance(uint32_t dist);
     bool is_simplified() const;
-    const pair& simplified();
+    ArrayView<const pair> simplified();
 
     vector_wrapper<point, vector_wrapper_repr::ref> raw_path();
-    vector_wrapper<point, vector_wrapper_repr::ref> raw_simplified_path();
+    vector_wrapper<pair, vector_wrapper_repr::ref> raw_simplified_path();
     ArrayView<const point> path() const;
     explicit operator ArrayView<const point>() const;
     explicit operator bool() const;
@@ -48,6 +39,14 @@ class path_search_result final
     path_search_result(path_search_result&&) noexcept;
     path_search_result& operator=(path_search_result&&) noexcept;
     ~path_search_result() noexcept;
+
+private:
+    Pointer<node> _node;
+    float _time = 0;
+    uint32_t _cost = 0, _distance = (uint32_t)-1;
+    bool _found : 1 = false;
+
+    static Pointer<node> _pool; // NOLINT(*-avoid-non-const-global-variables)
 };
 
 } // namespace floormat