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https://github.com/eclipse-sailing-analytics/sailing-analytics.git
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added createDjikstra() method
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Alexandru Dimofte committed
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commit
02711866b7
1 file changed
+92
-134
+92
-134
@@ -1,7 +1,12 @@
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package com.sap.sailing.simulator.impl;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Collections;
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import java.util.HashMap;
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import java.util.LinkedList;
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import java.util.List;
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import java.util.Map;
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import com.sap.sailing.domain.base.SpeedWithBearing;
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import com.sap.sailing.domain.base.impl.MeterDistance;
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@@ -124,157 +129,110 @@ public class SailingSimulatorImpl implements SailingSimulator {
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return new PathImpl(lst);
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}
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private Path createForwardDynamic() {
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private Path createDjikstra() {
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//retrieve simulation parameters
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Boundary boundary = simulationParameters.getBoundaries();
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WindField wf = simulationParameters.getWindField();
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PolarDiagram pd = simulationParameters.getBoatPolarDiagram();
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WindField windField = simulationParameters.getWindField();
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PolarDiagram polarDiagram = simulationParameters.getBoatPolarDiagram();
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Position start = simulationParameters.getCourse().get(0);
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Position end = simulationParameters.getCourse().get(1);
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TimePoint startTime = new MillisecondsTimePoint(0);
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List<TimedPositionWithSpeed> lst = new ArrayList<TimedPositionWithSpeed>();
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Position currentPosition = start;
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TimePoint currentTime = startTime;
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//the solution path
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LinkedList<TimedPositionWithSpeed> lst = new LinkedList<TimedPositionWithSpeed>();
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//initiate grid
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int gridv = 10; // number of vertical grid steps
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int gridh = 30; // number of horizontal grid steps
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Position[][] sailGrid = boundary.extractGrid(gridh, gridv);
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//create adjacency graph including start and end
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Map<Position,List<Position>> graph = new HashMap<Position, List<Position>>();
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graph.put(start, Arrays.asList(sailGrid[0]));
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for(int i = 0; i < gridv-1; i++) {
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for(Position p : sailGrid[i]) {
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graph.put(p, Arrays.asList(sailGrid[i+1]));
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}
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}
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for(Position p: sailGrid[gridv-1]) {
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graph.put(p, Arrays.asList(end));
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}
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//create backwards adjacency graph, required to reconstruct the optimal path
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Map<Position, List<Position>> backGraph = new HashMap<Position, List<Position>>();
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backGraph.put(end, Arrays.asList(sailGrid[gridv-1]));
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for(int i = gridv-2; i>0; i--) {
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for(Position p: sailGrid[i]) {
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backGraph.put(p, Arrays.asList(sailGrid[i-1]));
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}
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}
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for(Position p : sailGrid[0]) {
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backGraph.put(p, Arrays.asList(start));
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}
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//create tentative distance matrix
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Map<Position, Double> tentativeDistances = new HashMap<Position, Double>();
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for(Position p : graph.keySet()) {
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tentativeDistances.put(p, Double.POSITIVE_INFINITY);
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}
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tentativeDistances.put(start, 0.0);
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/*
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stretch.x <- 0.5 ## stretch-factor for horizontal grid
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//create set of unvisited nodes
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List<Position> unvisited = new ArrayList<Position>(graph.keySet());
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grid.x <- (-grid.h:grid.h)/grid.h*stretch.x
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grid.y <- (0:grid.v)/grid.v
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//set the initial node as current
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Position currentPosition = start;
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TimePoint currentTime = startTime;
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sail.grid <- expand.grid(grid.x,grid.y)
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*/
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//search loop
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while(unvisited.contains(end)) {
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TimedPosition currentTimedPosition = new TimedPositionImpl(currentTime, currentPosition);
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SpeedWithBearing currentWind = windField.getWind(currentTimedPosition);
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polarDiagram.setWind(currentWind);
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List<Position> unvisitedNeighbours = graph.get(currentPosition);
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unvisitedNeighbours.retainAll(unvisited);
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for(Position p : unvisitedNeighbours) {
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Bearing bearingToP = currentPosition.getBearingGreatCircle(p);
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Distance distanceToP = currentPosition.getDistance(p);
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Speed speedToP = polarDiagram.getSpeedAtBearing(bearingToP);
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//multiplied by 1000 to have milliseconds
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Double timeToP = 1000 * (distanceToP.getMeters() / speedToP.getMetersPerSecond());
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Double tentativeDistanceToP = currentTime.asMillis() + timeToP;
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if (tentativeDistanceToP < tentativeDistances.get(p)) {
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tentativeDistances.put(p, tentativeDistanceToP);
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}
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}
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unvisited.remove(currentPosition);
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Map<Position, Double> unvisitedTentativeDistances = new HashMap<Position, Double>(tentativeDistances);
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unvisitedTentativeDistances.entrySet().retainAll(unvisited);
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Double minTentativeDistance = Collections.min(unvisitedTentativeDistances.values());
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for (Position p : unvisitedTentativeDistances.keySet()) {
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if( unvisitedTentativeDistances.get(p) == minTentativeDistance ) {
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currentPosition = p;
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currentTime = new MillisecondsTimePoint(minTentativeDistance.longValue());
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break;
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}
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}
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}
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/*for(idxv=1; idxv<=hridv; idxv++) {
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paths.new <- vector("list",2*grid.h+1)
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duras.new <- vector("list",2*grid.h+1)
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alldur <- NULL
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if (idx.v==1) {
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range1 <- 0
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} else {
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range1 <- grid.h
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}
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if (idx.v==grid.v) {
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range2 <- 0
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} else {
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range2 <- grid.h
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}
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for(idx.h2 in -range2:range2) {
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alldur <- NULL
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for(idx.h1 in -range1:range1) {
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duration.h1h2 <- duration(idx.h1,idx.h2,idx.v)
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if (duration.h1h2 == Inf) {
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next
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}
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if (idx.v==1) {
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dur <- data.frame(duration=signif(duration.h1h2,digits=sig.digits),hidx=idx.h1+range1+1,pidx=1)
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if (is.null(alldur)) {
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alldur <- dur
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} else {
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alldur <- rbind(alldur,dur)
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}
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} else {
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for(pidx in 1:length(paths[[idx.h1+range1+1]])) {
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curdur = signif(duration.h1h2 + duras[[idx.h1+range1+1]][pidx],digits=sig.digits)
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dur <- data.frame(duration=curdur,hidx=idx.h1+range1+1,pidx=pidx)
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if (is.null(alldur)) {
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alldur <- dur
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} else {
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alldur <- rbind(alldur,dur)
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}
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}
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}
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}
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if (idx.v>1) {
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if (idx.v != grid.v) {
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idx.min <- alldur[which(alldur[,"duration"] == min(alldur[,"duration"])),]
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jdx <- 0
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for (pidx in 1:nrow(idx.min)) {
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jdx <- jdx+1
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paths.new[[idx.h2+grid.h+1]][[jdx]] <- c(paths[[idx.min[pidx,"hidx"]]][[idx.min[pidx,"pidx"]]],idx.h2)
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duras.new[[idx.h2+grid.h+1]][[jdx]] <- idx.min[pidx,"duration"]
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}
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} else {
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for(ddx in 1:nrow(alldur)) {
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tcks <- tacks(c(paths[[alldur[ddx,"hidx"]]][[alldur[ddx,"pidx"]]],0))
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alldur[ddx,"duration"] <- tcks*tack.cost + alldur[ddx,"duration"]
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}
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dur.idx <- order(alldur[,"duration"])
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srtdur <- alldur[dur.idx,]
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jdx <- 1
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kdx <- 1
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p.grps <- length(unique(alldur[,"duration"]))
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paths.new <- vector("list",p.grps)
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paths.new[[kdx]][[jdx]] <- c(paths[[srtdur[1,"hidx"]]][[srtdur[1,"pidx"]]],0)
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duras.new <- vector("list",p.grps)
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duras.new[[kdx]] <- srtdur[1,"duration"]
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for (pidx in 2:nrow(alldur)) {
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if (srtdur[pidx,"duration"]==srtdur[pidx-1,"duration"]) {
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jdx <- jdx + 1
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} else {
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jdx <- 1
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kdx <- kdx + 1
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duras.new[[kdx]] <- srtdur[pidx,"duration"]
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}
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paths.new[[kdx]][[jdx]] <- c(paths[[srtdur[pidx,"hidx"]]][[srtdur[pidx,"pidx"]]],0)
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}
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}
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} else {
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for (idx in -grid.h:grid.h) {
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paths.new[[idx+grid.h+1]][[1]] <- c(0,idx)
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dur.eval <- duration(0,idx,1)
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duras.new[[idx+grid.h+1]][[1]] <- dur.eval[1]
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}
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}
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}
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paths <- paths.new
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duras <- duras.new
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//reconstruct the optimal path by going from start to end
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currentPosition = end;
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Position nextPosition = end;
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while(nextPosition!=start) {
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List<Position> currentPredecessors = backGraph.get(currentPosition);
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currentTime = new MillisecondsTimePoint(tentativeDistances.get(currentPosition).longValue());
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TimedPosition currentTimedPosition = new TimedPositionImpl(currentTime, end);
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SpeedWithBearing currentWind = windField.getWind(currentTimedPosition);
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polarDiagram.setWind(currentWind);
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SpeedWithBearing currentSpeed;
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//TimedPositionWithSpeed = new TimedPositionWithSpeedImpl(currentTime, currentPosition, );
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}
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*/
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return new PathImpl(lst);
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}
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