Add basic sqaure grid heuristic functions.

alib2graph_algo/src/heuristic/ChebyshevDistance.cpp

+// ChebyshevDistance.cpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "ChebyshevDistance.hpp"
+
+#include <registration/AlgoRegistration.hpp>
+#include <common/DefaultTypes.hpp>
+
+namespace {
+
+auto ChebyshevDistance = registration::AbstractRegister<heuristic::ChebyshevDistance,
+                                                        std::function<DefaultCoordinateType(const ext::pair<
+                                                            DefaultCoordinateType,
+                                                            DefaultCoordinateType> &,
+                                                                                            const ext::pair<
+                                                                                                DefaultCoordinateType,
+                                                                                                DefaultCoordinateType> &)> >(
+    heuristic::ChebyshevDistance::chebyshevDistanceFunction);
+
+}

alib2graph_algo/src/heuristic/ChebyshevDistance.hpp

+// ChebyshevDistance.hpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_CHEBYSHEVDISTANCE_HPP
+#define ALIB2_CHEBYSHEVDISTANCE_HPP
+
+#include <cmath>
+#include <alib/pair>
+#include <functional>
+
+namespace heuristic {
+
+class ChebyshevDistance {
+// ---------------------------------------------------------------------------------------------------------------------
+
+ public:
+  template<typename TCoordinate>
+  static TCoordinate chebyshevDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                       const ext::pair<TCoordinate, TCoordinate> &node);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+  template<typename TCoordinate>
+  static std::function<TCoordinate(const ext::pair<TCoordinate, TCoordinate> &,
+                                   const ext::pair<TCoordinate, TCoordinate> &)> chebyshevDistanceFunction();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TCoordinate>
+TCoordinate ChebyshevDistance::chebyshevDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                                 const ext::pair<TCoordinate, TCoordinate> &node) {
+  return std::max(node.first - goal.first, node.second - goal.second);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TCoordinate>
+std::function<TCoordinate(const ext::pair<TCoordinate, TCoordinate> &,
+                          const ext::pair<TCoordinate, TCoordinate> &)> ChebyshevDistance::chebyshevDistanceFunction() {
+  return (TCoordinate (*)(const ext::pair<TCoordinate, TCoordinate> &,
+                          const ext::pair<TCoordinate, TCoordinate> &)) chebyshevDistance;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace heuristic
+#endif //ALIB2_CHEBYSHEVDISTANCE_HPP

alib2graph_algo/src/heuristic/DiagonalDistance.cpp

+// DiagonalDistance.cpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "DiagonalDistance.hpp"
+
+#include <registration/AlgoRegistration.hpp>
+#include <common/DefaultTypes.hpp>
+
+namespace {
+
+auto DiagonalDistance = registration::AbstractRegister<heuristic::DiagonalDistance,
+                                                       std::function<DefaultWeightType(const ext::pair<
+                                                           DefaultCoordinateType,
+                                                           DefaultCoordinateType> &,
+                                                                                       const ext::pair<
+                                                                                           DefaultCoordinateType,
+                                                                                           DefaultCoordinateType> &)> >(
+    heuristic::DiagonalDistance::diagonalDistanceFunction);
+
+}

alib2graph_algo/src/heuristic/DiagonalDistance.hpp

+// DiagonalDistance.hpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_DIAGONALDISTANCE_HPP
+#define ALIB2_DIAGONALDISTANCE_HPP
+
+#include <cmath>
+#include <alib/pair>
+#include <functional>
+
+namespace heuristic {
+
+class DiagonalDistance {
+// ---------------------------------------------------------------------------------------------------------------------
+ public:
+  template<typename TCoordinate>
+  static double diagonalDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                 const ext::pair<TCoordinate, TCoordinate> &node);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+  template<typename TCoordinate>
+  static std::function<double(const ext::pair<TCoordinate, TCoordinate> &,
+                              const ext::pair<TCoordinate, TCoordinate> &)> diagonalDistanceFunction();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TCoordinate>
+double DiagonalDistance::diagonalDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                          const ext::pair<TCoordinate, TCoordinate> &node) {
+  TCoordinate d_max = std::max(std::abs(node.first - goal.first), std::abs(node.second - goal.second));
+  TCoordinate d_min = std::min(std::abs(node.first - goal.first), std::abs(node.second - goal.second));
+
+  return M_SQRT2 * d_min + (d_max - d_min);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TCoordinate>
+std::function<double(const ext::pair<TCoordinate, TCoordinate> &,
+                     const ext::pair<TCoordinate, TCoordinate> &)> DiagonalDistance::diagonalDistanceFunction() {
+  return (double (*)(const ext::pair<TCoordinate, TCoordinate> &,
+                     const ext::pair<TCoordinate, TCoordinate> &)) diagonalDistance;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace heuristic
+#endif //ALIB2_DIAGONALDISTANCE_HPP

alib2graph_algo/src/heuristic/EuclideanDistance.cpp

+// EuclideanDistance.cpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "EuclideanDistance.hpp"
+
+#include <registration/AlgoRegistration.hpp>
+#include <common/DefaultTypes.hpp>
+
+namespace {
+
+auto EuclideanDistance = registration::AbstractRegister<heuristic::EuclideanDistance,
+                                                        std::function<DefaultWeightType(const ext::pair<
+                                                            DefaultCoordinateType,
+                                                            DefaultCoordinateType> &,
+                                                                                        const ext::pair<
+                                                                                            DefaultCoordinateType,
+                                                                                            DefaultCoordinateType> &)> >(
+    heuristic::EuclideanDistance::euclideanDistanceFunction);
+
+}

alib2graph_algo/src/heuristic/EuclideanDistance.hpp

+// EuclideanDistance.hpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_EUCLIDEANDISTANCE_HPP
+#define ALIB2_EUCLIDEANDISTANCE_HPP
+
+#include <cmath>
+#include <alib/pair>
+#include <functional>
+
+namespace heuristic {
+
+class EuclideanDistance {
+// ---------------------------------------------------------------------------------------------------------------------
+
+ public:
+  template<typename TCoordinate>
+  static double euclideanDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                  const ext::pair<TCoordinate, TCoordinate> &node);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+  template<typename TCoordinate>
+  static std::function<double(const ext::pair<TCoordinate, TCoordinate> &,
+                              const ext::pair<TCoordinate, TCoordinate> &)> euclideanDistanceFunction();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TCoordinate>
+double EuclideanDistance::euclideanDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                            const ext::pair<TCoordinate, TCoordinate> &node) {
+  return std::sqrt(
+      (node.first - goal.first) * (node.first - goal.first) +
+          (node.second - goal.second) * (node.second - goal.second));
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TCoordinate>
+std::function<double(const ext::pair<TCoordinate, TCoordinate> &,
+                     const ext::pair<TCoordinate, TCoordinate> &)> EuclideanDistance::euclideanDistanceFunction() {
+  return (double (*)(const ext::pair<TCoordinate, TCoordinate> &,
+                     const ext::pair<TCoordinate, TCoordinate> &)) euclideanDistance;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace heuristic
+#endif //ALIB2_EUCLIDEANDISTANCE_HPP

alib2graph_algo/src/heuristic/EuclideanDistanceNoSQRT.cpp

+// EuclideanDistanceNoSQRT.cpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "EuclideanDistanceNoSQRT.hpp"
+
+#include <registration/AlgoRegistration.hpp>
+#include <common/DefaultTypes.hpp>
+
+namespace {
+
+auto EuclideanDistanceNoSQRT = registration::AbstractRegister<heuristic::EuclideanDistanceNoSQRT,
+                                                              std::function<DefaultWeightType(const ext::pair<
+                                                                  DefaultCoordinateType,
+                                                                  DefaultCoordinateType> &,
+                                                                                              const ext::pair<
+                                                                                                  DefaultCoordinateType,
+                                                                                                  DefaultCoordinateType> &)> >(
+    heuristic::EuclideanDistanceNoSQRT::euclideanDistanceNoSQRTFunction);
+
+}

alib2graph_algo/src/heuristic/EuclideanDistanceNoSQRT.hpp

+// EuclideanDistanceNoSQRT.hpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_EUCLIDEANDISTANCENOSQRT_HPP
+#define ALIB2_EUCLIDEANDISTANCENOSQRT_HPP
+
+#include <alib/pair>
+#include <functional>
+
+namespace heuristic {
+
+class EuclideanDistanceNoSQRT {
+// ---------------------------------------------------------------------------------------------------------------------
+
+ public:
+
+  template<typename TCoordinate>
+  static double euclideanDistanceNoSQRT(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                        const ext::pair<TCoordinate, TCoordinate> &node);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+  template<typename TCoordinate>
+  static std::function<double(const ext::pair<TCoordinate, TCoordinate> &,
+                              const ext::pair<TCoordinate, TCoordinate> &)> euclideanDistanceNoSQRTFunction();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TCoordinate>
+double EuclideanDistanceNoSQRT::euclideanDistanceNoSQRT(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                                        const ext::pair<TCoordinate, TCoordinate> &node) {
+  return (node.first - goal.first) * (node.first - goal.first) +
+      (node.second - goal.second) * (node.second - goal.second);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TCoordinate>
+std::function<double(const ext::pair<TCoordinate, TCoordinate> &,
+                     const ext::pair<TCoordinate,
+                                     TCoordinate> &)> EuclideanDistanceNoSQRT::euclideanDistanceNoSQRTFunction() {
+  return (double (*)(const ext::pair<TCoordinate, TCoordinate> &,
+                     const ext::pair<TCoordinate, TCoordinate> &)) euclideanDistanceNoSQRT;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace heuristic
+#endif //ALIB2_EUCLIDEANDISTANCENOSQRT_HPP

alib2graph_algo/src/heuristic/ManhattenDistance.cpp

+// ManhattenDistance.cpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "ManhattenDistance.hpp"
+
+#include <registration/AlgoRegistration.hpp>
+#include <common/DefaultTypes.hpp>
+
+namespace {
+
+auto ManhattenDistance = registration::AbstractRegister<heuristic::ManhattenDistance,
+                                                        std::function<DefaultCoordinateType(const ext::pair<
+                                                            DefaultCoordinateType,
+                                                            DefaultCoordinateType> &,
+                                                                                            const ext::pair<
+                                                                                                DefaultCoordinateType,
+                                                                                                DefaultCoordinateType> &)> >(
+    heuristic::ManhattenDistance::manhattenDistanceFunction);
+
+}
\ No newline at end of file

alib2graph_algo/src/heuristic/ManhattenDistance.hpp

+// ManhattenDistance.hpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_MANHATTENDISTANCE_HPP
+#define ALIB2_MANHATTENDISTANCE_HPP
+
+#include <cmath>
+#include <alib/pair>
+#include <functional>
+
+namespace heuristic {
+
+class ManhattenDistance {
+// ---------------------------------------------------------------------------------------------------------------------
+
+ public:
+
+  template<typename TCoordinate>
+  static TCoordinate manhattenDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                       const ext::pair<TCoordinate, TCoordinate> &node);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+  template<typename TCoordinate>
+  static
+  std::function<TCoordinate(const ext::pair<TCoordinate, TCoordinate> &,
+                            const ext::pair<TCoordinate, TCoordinate> &)> manhattenDistanceFunction();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TCoordinate>
+TCoordinate ManhattenDistance::manhattenDistance(const ext::pair<TCoordinate, TCoordinate> &goal,
+                                                 const ext::pair<TCoordinate, TCoordinate> &node) {
+  return std::abs(node.first - goal.first) + std::abs(node.second - goal.second);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TCoordinate>
+std::function<TCoordinate(const ext::pair<TCoordinate, TCoordinate> &,
+                          const ext::pair<TCoordinate, TCoordinate> &)> ManhattenDistance::manhattenDistanceFunction() {
+  return (TCoordinate (*)(const ext::pair<TCoordinate, TCoordinate> &,
+                          const ext::pair<TCoordinate, TCoordinate> &)) manhattenDistance;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace heuristic
+#endif //ALIB2_MANHATTENDISTANCE_HPP

alib2graph_algo/src/heuristic/SquareGridHeuristics.hpp

+// SquareGridHeuristics.hpp
+//
+//     Created on: 15. 03. 2018
+//         Author: Jan Uhlik
+//    Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_SQUAREGRIDHEURISTICS_HPP
+#define ALIB2_SQUAREGRIDHEURISTICS_HPP
+
+#include "ChebyshevDistance.hpp"
+#include "DiagonalDistance.hpp"
+#include "EuclideanDistance.hpp"
+#include "EuclideanDistanceNoSQRT.hpp"
+#include "ManhattenDistance.hpp"
+
+#endif //ALIB2_SQUAREGRIDHEURISTICS_HPP