traceback.cpp

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#include <tuw_global_router/traceback.h>
#include <ros/ros.h>

namespace multi_robot_router
{

bool Traceback::getPath(const Vertex &_startSeg, const Vertex &_endSeg, std::vector<RouteVertex> &_path) const
{
    const Vertex *current = &_endSeg;
    const Vertex *predecessor = current->predecessor_;

    //Set moving direction
    _path.emplace_back(*current);
    _path.back().direction = RouteVertex::path_direction::end_to_start;

    if (predecessor != NULL && isSuccessor(current, predecessor))
        _path.back().direction = RouteVertex::path_direction::start_to_end;

    while (current->predecessor_ != NULL)
    {
        const Vertex *pred = current->predecessor_;

        _path.emplace_back(*pred);

        if (isSuccessor(pred, current))
            _path.back().direction = RouteVertex::path_direction::end_to_start; //-1
        else
            _path.back().direction = RouteVertex::path_direction::start_to_end; //1

        current = pred;
    }

    if (_path.back().getSegment().getSegmentId() != _startSeg.getSegment().getSegmentId())
        return false;

    return true;
}

bool Traceback::isSuccessor(const Vertex *_vertex, const Vertex *_succ) const
{
    const std::vector<std::reference_wrapper<Vertex>> succ = _vertex->getPlanningSuccessors();

    for (const Vertex &s : succ)
    {
        if (s.getSegment().getSegmentId() == _succ->getSegment().getSegmentId())
            return true;
    }

    return false;
}

} // namespace multi_robot_router