analysis_C.cpp

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#include <analysis_C.h>
 
#include <robin_hood.h>
 
#include <HFExceptions.h>
#include <embree_raytracer.h>
#include <graph_generator.h>
#include <graph.h>
 
using HF::SpatialStructures::Graph;
using HF::GraphGenerator::GraphGenerator;
using namespace HF::Exceptions;
 
template <typename T> 
std::vector<T> MapToVector(int length, const T * in_ptr){
    if (length == 0)
        return std::vector<T>(0);
    else
        return std::vector<T>(in_ptr, in_ptr + length);
}
 
C_INTERFACE GenerateGraph(
    HF::RayTracer::EmbreeRayTracer* ray_tracer,
    const float* start_point,
    const float* spacing,
    int MaxNodes,
    float UpStep,
    float UpSlope,
    float DownStep,
    float DownSlope,
    int max_step_connections,
    int min_connections,
    int core_count,
    Graph** out_graph
){
    const std::array<float, 3> start_array{ start_point[0], start_point[1], start_point[2] };
    const std::array<double, 3> spacing_array{ spacing[0], spacing[1], spacing[2] };
 
    Graph* G = new Graph();
    GraphGenerator GraphGen(*ray_tracer);
    *G = GraphGen.BuildNetwork(
        start_array,
        spacing_array,
        MaxNodes,
        UpStep,
        UpSlope,
        DownStep,
        DownSlope,
        max_step_connections,
        min_connections,
        core_count
    );
 
    if (G->Nodes().size() < 1) {
        delete G;
        return HF_STATUS::NO_GRAPH;
    }
    *out_graph = G;
    return OK;
}
 
C_INTERFACE GenerateGraphObstacles(
    HF::RayTracer::EmbreeRayTracer* ray_tracer,
    const float* start_point,
    const float* spacing,
    int MaxNodes,
    float UpStep,
    float UpSlope,
    float DownStep,
    float DownSlope,
    int max_step_connections,
    int min_connections,
    int core_count,
    const int* obstacle_ids,
    const int* walkable_ids,
    int num_obstacles,
    int num_walkables,
    Graph** out_graph
) {
    const std::array<float, 3> start_array{ start_point[0], start_point[1], start_point[2] };
    const std::array<double, 3> spacing_array{ spacing[0], spacing[1], spacing[2] };
 
    const std::vector<int> obstacle_vector = MapToVector(num_obstacles, obstacle_ids);
    const std::vector<int> walkable_vector = MapToVector(num_walkables, walkable_ids);
 
    Graph* G = new Graph();
    GraphGenerator GraphGen(*ray_tracer, obstacle_vector, walkable_vector);
    *G = GraphGen.BuildNetwork(
        start_array,
        spacing_array,
        MaxNodes,
        UpStep,
        UpSlope,
        DownStep,
        DownSlope,
        max_step_connections,
        min_connections,
        core_count
    );
 
    if (G->Nodes().size() < 1) {
        delete G;
        return HF_STATUS::NO_GRAPH;
    }
    *out_graph = G;
    return OK;
}