path.h

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#pragma once
 
#include <vector>
#include <iostream>
 
#include "Constants.h"
 
namespace HF::SpatialStructures
{
    struct PathMember {
        float cost;     
        int node;       
 
 
        inline bool operator==(const PathMember& p2) const {
            // unsafe to test floating point values for equality using == return(cost == p2.cost &&
            // node == p2.node);
 
            // Take absolute value of cost - p2.cost, compare to ROUNDING_PRECISION If true, cost
            // and p2.cost are approximately equal
            bool approx_equal = std::abs(cost - p2.cost) < HF::SpatialStructures::ROUNDING_PRECISION;
            return approx_equal && node == p2.node;
        }
 
 
        inline bool operator!=(const PathMember& p2) const {
            return (!((*this) == p2));
        }
    };
 
    struct Path {
    public:
        std::vector<PathMember> members; 
 
 
        Path::Path() {};
 
 
        Path::Path(const std::vector<PathMember> & pm);
 
 
        void AddNode(int node, float cost);
 
 
        bool empty() const;
 
 
        int size() const;
 
 
        void Reverse();
 
 
        bool operator==(const Path& p2) const;
 
 
        PathMember operator[](int i) const;
 
 
        PathMember* GetPMPointer();
    };
};
 
namespace std {
    inline ostream& operator<<(ostream& os, const HF::SpatialStructures::Path p) {
        for (int i = 0; i < p.size(); i++) {
            const auto& pm = p[i];
 
            os << "(" << pm.node << ")";
            if (i != p.size()) {
                os << " -" << pm.cost << "-> ";
            }
        }
        os << std::endl;
        return os;
    }
}