Feature/gridmap utility apply

apps/jps.cpp

@@ -111,21 +111,24 @@ check_optimality(
 }
 
 template<typename Search>
-void
+int
 run_experiments(
     Search& algo, std::string alg_name,
     warthog::util::scenario_manager& scenmgr, bool verbose, bool checkopt,
     std::ostream& out)
 {
-	std::cout << "id\talg\texpanded\tgenerated\treopen\tsurplus\theapops"
-	          << "\tnanos\tplen\tpcost\tscost\tmap\n";
+	auto* expander = algo.get_expander();
+	if(expander == nullptr) return 1;
+	out << "id\talg\texpanded\tgenerated\treopen\tsurplus\theapops"
+	    << "\tnanos\tplen\tpcost\tscost\tmap\n";
 	for(unsigned int i = 0; i < scenmgr.num_experiments(); i++)
 	{
 		warthog::util::experiment* exp = scenmgr.get_experiment(i);
 
-		warthog::pack_id startid{
-		    exp->starty() * exp->mapwidth() + exp->startx()};
-		warthog::pack_id goalid{exp->goaly() * exp->mapwidth() + exp->goalx()};
+		warthog::pack_id startid
+		    = expander->get_pack(exp->startx(), exp->starty());
+		warthog::pack_id goalid
+		    = expander->get_pack(exp->goalx(), exp->goaly());
 		warthog::search::problem_instance pi(startid, goalid, verbose);
 		warthog::search::search_parameters par;
 		warthog::search::solution sol;
@@ -141,12 +144,17 @@ run_experiments(
 		    << exp->distance() << "\t" << scenmgr.last_file_loaded()
 		    << std::endl;
 
-		if(checkopt) { check_optimality(sol, exp); }
+		if(checkopt)
+		{
+			if(!check_optimality(sol, exp)) return 4;
+		}
 	}
+
+	return 0;
 }
 
 template<typename ExpansionPolicy>
-void
+int
 run_jps(
     warthog::util::scenario_manager& scenmgr, std::string mapname,
     std::string alg_name)
@@ -158,8 +166,15 @@ run_jps(
 
 	warthog::search::unidirectional_search jps(&heuristic, &expander, &open);
 
-	run_experiments(jps, alg_name, scenmgr, verbose, checkopt, std::cout);
+	int ret = run_experiments(
+	    jps, alg_name, scenmgr, verbose, checkopt, std::cout);
+	if(ret != 0)
+	{
+		std::cerr << "run_experiments error code " << ret << std::endl;
+		return ret;
+	}
 	std::cerr << "done. total memory: " << jps.mem() + scenmgr.mem() << "\n";
+	return 0;
 }
 
 } // namespace

include/jps/jump/online_jump_point_locator.h

@@ -101,7 +101,7 @@ class online_jump_point_locator
 		map_->to_unpadded_xy(mapid, x, y);
 		ry = x;
 		rx = map_->header_height() - y - 1;
-		return jps_id(rmap_->to_padded_id(rx, ry));
+		return jps_id(rmap_->to_padded_id_from_unpadded(rx, ry));
 	}
 
 	inline jps_id
@@ -114,7 +114,7 @@ class online_jump_point_locator
 		rmap_->to_unpadded_xy(rmapid, rx, ry);
 		x = ry;
 		y = rmap_->header_width() - rx - 1;
-		return jps_id(map_->to_padded_id(x, y));
+		return jps_id(map_->to_padded_id_from_unpadded(x, y));
 	}
 
 	warthog::domain::gridmap*

include/jps/jump/online_jump_point_locator2.h

@@ -111,7 +111,7 @@ class online_jump_point_locator2
 		map_->to_unpadded_xy(mapid, x, y);
 		ry = x;
 		rx = map_->header_height() - y - 1;
-		return jps_id(rmap_->to_padded_id(rx, ry));
+		return jps_id(rmap_->to_padded_id_from_unpadded(rx, ry));
 	}
 
 	// convert rmap indexes to map indexes
@@ -125,7 +125,7 @@ class online_jump_point_locator2
 		rmap_->to_unpadded_xy(rmapid, rx, ry);
 		x = ry;
 		y = rmap_->header_width() - rx - 1;
-		return jps_id(map_->to_padded_id(x, y));
+		return jps_id(map_->to_padded_id_from_unpadded(x, y));
 	}
 
 	warthog::domain::gridmap*

src/jump/offline_jump_point_locator.cpp

@@ -36,7 +36,7 @@ offline_jump_point_locator::preproc()
 	{
 		for(uint32_t x = 0; x < map_->header_width(); x++)
 		{
-			jps_id mapid = jps_id{map_->to_padded_id(x, y)};
+			jps_id mapid = jps_id{map_->to_padded_id_from_unpadded(x, y)};
 			//			std::cout << mapid << " ";
 			for(uint32_t i = 0; i < 8; i++)
 			{

src/jump/offline_jump_point_locator2.cpp

@@ -47,7 +47,7 @@ offline_jump_point_locator2::preproc()
 	{
 		for(uint32_t x = 0; x < map_->header_width(); x++)
 		{
-			jps_id mapid = jps_id{map_->to_padded_id(x, y)};
+			jps_id mapid = jps_id{map_->to_padded_id_from_unpadded(x, y)};
 			//			std::cout << mapid << " ";
 			for(uint32_t i = 0; i < 8; i++)
 			{

src/jump/online_jump_point_locator.cpp

@@ -36,10 +36,11 @@ online_jump_point_locator::create_rmap()
 	{
 		for(uint32_t y = 0; y < maph; y++)
 		{
-			uint32_t label = map_->get_label(map_->to_padded_id(x, y));
+			uint32_t label
+			    = map_->get_label(map_->to_padded_id_from_unpadded(x, y));
 			uint32_t rx = ((rmapw - 1) - y);
 			uint32_t ry = x;
-			rmap->set_label(rmap->to_padded_id(rx, ry), label);
+			rmap->set_label(rmap->to_padded_id_from_unpadded(rx, ry), label);
 		}
 	}
 	return rmap;

src/jump/online_jump_point_locator2.cpp

@@ -38,10 +38,11 @@ online_jump_point_locator2::create_rmap()
 	{
 		for(uint32_t y = 0; y < maph; y++)
 		{
-			uint32_t label = map_->get_label(map_->to_padded_id(x, y));
+			uint32_t label
+			    = map_->get_label(map_->to_padded_id_from_unpadded(x, y));
 			uint32_t rx = ((rmapw - 1) - y);
 			uint32_t ry = x;
-			rmap->set_label(rmap->to_padded_id(rx, ry), label);
+			rmap->set_label(rmap->to_padded_id_from_unpadded(rx, ry), label);
 		}
 	}
 	return rmap;

src/search/jps.cpp

@@ -255,7 +255,7 @@ create_corner_map(warthog::domain::gridmap* gm)
 	{
 		for(uint32_t x = 0; x < mapwidth; x++)
 		{
-			jps_id from_id = jps_id(gm->to_padded_id(x, y));
+			jps_id from_id = jps_id(gm->to_padded_id_from_unpadded(x, y));
 			if(!gm->get_label(from_id)) { continue; }
 
 			jps_id w_id = jps_id(from_id.id - 1);