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//=======================================================================

// Distributed under the Boost Software License, Version 1.0. (See

// accompanying file LICENSE_1_0.txt or copy at

// http://www.boost.org/LICENSE_1_0.txt)

//=======================================================================

#include <boost/graph/astar_search.hpp>

#include <boost/graph/adjacency_list.hpp>

#include <boost/graph/random.hpp>

#include <boost/random.hpp>

#include <boost/graph/graphviz.hpp>

#include <ctime>

#include <vector>

#include <list>

#include <iostream>

#include <fstream>

#include <math.h> // for sqrt

using namespace boost;

using namespace std;

// auxiliary types

struct location

{

float y, x; // lat, long

};

using cost = float;

template < class Name, class LocMap > class city_writer

{

public:

city_writer(Name n, LocMap l, float _minx, float _maxx, float _miny,

float _maxy, unsigned int _ptx, unsigned int _pty)

: name(n)

, loc(l)

, minx(_minx)

, maxx(_maxx)

, miny(_miny)

, maxy(_maxy)

, ptx(_ptx)

, pty(_pty)

{

}

template < class Vertex >

void operator()(ostream& out, const Vertex& v) const

{

float px = 1 - (loc[v].x - minx) / (maxx - minx);

float py = (loc[v].y - miny) / (maxy - miny);

out << "[label=\"" << name[v] << "\", pos=\""

<< static_cast< unsigned int >(ptx * px) << ","

<< static_cast< unsigned int >(pty * py) << "\", fontsize=\"11\"]";

}

private:

Name name;

LocMap loc;

float minx, maxx, miny, maxy;

unsigned int ptx, pty;

};

template < class WeightMap > class time_writer

{

public:

time_writer(WeightMap w) : wm(w) {}

template < class Edge > void operator()(ostream& out, const Edge& e) const

{

out << "[label=\"" << wm[e] << "\", fontsize=\"11\"]";

}

private:

WeightMap wm;

};

// euclidean distance heuristic

template < class Graph, class CostType, class LocMap >

class distance_heuristic : public astar_heuristic< Graph, CostType >

{

public:

using Vertex = typename graph_traits< Graph >::vertex_descriptor;

distance_heuristic(LocMap l, Vertex goal) : m_location(l), m_goal(goal) {}

CostType operator()(Vertex u)

{

auto dx = m_location[m_goal].x - m_location[u].x;

auto dy = m_location[m_goal].y - m_location[u].y;

return ::sqrt(dx * dx + dy * dy);

}

private:

LocMap m_location;

Vertex m_goal;

};

struct found_goal

{

}; // exception for termination

// visitor that terminates when we find the goal

template < class Vertex >

class astar_goal_visitor : public boost::default_astar_visitor

{

public:

astar_goal_visitor(Vertex goal) : m_goal(goal) {}

template < class Graph > void examine_vertex(Vertex u, Graph& g)

{

if (u == m_goal)

throw found_goal();

}

private:

Vertex m_goal;

};

int main(int argc, char** argv)

{

// specify some types

using mygraph_t = adjacency_list< listS, vecS, undirectedS, no_property,

property< edge_weight_t, cost > >;

using WeightMap = property_map< mygraph_t, edge_weight_t >::type;

using vertex = mygraph_t::vertex_descriptor;

using edge_descriptor = mygraph_t::edge_descriptor;

using edge = std::pair< int, int >;

// specify data

enum nodes

{

Troy,

LakePlacid,

Plattsburgh,

Massena,

Watertown,

Utica,

Syracuse,

Rochester,

Buffalo,

Ithaca,

Binghamton,

Woodstock,

NewYork,

};

const char* name[] = { "Troy", "Lake Placid", "Plattsburgh", "Massena",

"Watertown", "Utica", "Syracuse", "Rochester", "Buffalo", "Ithaca",

"Binghamton", "Woodstock", "New York" };

location locations[] = { // lat/long

{ 42.73, 73.68 }, { 44.28, 73.99 }, { 44.70, 73.46 }, { 44.93, 74.89 },

{ 43.97, 75.91 }, { 43.10, 75.23 }, { 43.04, 76.14 }, { 43.17, 77.61 },

{ 42.89, 78.86 }, { 42.44, 76.50 }, { 42.10, 75.91 }, { 42.04, 74.11 },

{ 40.67, 73.94 }

};

edge edge_array[]

= { edge(Troy, Utica), edge(Troy, LakePlacid), edge(Troy, Plattsburgh),

edge(LakePlacid, Plattsburgh), edge(Plattsburgh, Massena),

edge(LakePlacid, Massena), edge(Massena, Watertown),

edge(Watertown, Utica), edge(Watertown, Syracuse),

edge(Utica, Syracuse), edge(Syracuse, Rochester),

edge(Rochester, Buffalo), edge(Syracuse, Ithaca),

edge(Ithaca, Binghamton), edge(Ithaca, Rochester),

edge(Binghamton, Troy), edge(Binghamton, Woodstock),

edge(Binghamton, NewYork), edge(Syracuse, Binghamton),

edge(Woodstock, Troy), edge(Woodstock, NewYork) };

unsigned int num_edges = sizeof(edge_array) / sizeof(edge);

cost weights[] = { // estimated travel time (mins)

96, 134, 143, 65, 115, 133, 117, 116, 74, 56, 84, 73, 69, 70, 116, 147,

173, 183, 74, 71, 124

};

// create graph

mygraph_t g(N);

auto weightmap = get(edge_weight, g);

for (std::size_t j = 0; j < num_edges; ++j)

{

edge_descriptor e;

bool inserted;

boost::tie(e, inserted)

= add_edge(edge_array[j].first, edge_array[j].second, g);

weightmap[e] = weights[j];

}

// pick random start/goal

boost::mt19937 gen(time(0));

auto start = random_vertex(g, gen);

auto goal = random_vertex(g, gen);

cout << "Start vertex: " << name[start] << endl;

cout << "Goal vertex: " << name[goal] << endl;

ofstream dotfile;

dotfile.open("test-astar-cities.dot");

write_graphviz(dotfile, g,

city_writer< const char**, location* >(

name, locations, 73.46, 78.86, 40.67, 44.93, 480, 400),

time_writer< WeightMap >(weightmap));

vector< mygraph_t::vertex_descriptor > p(num_vertices(g));

vector< cost > d(num_vertices(g));

try

{

// call astar named parameter interface

astar_search_tree(g, start,

distance_heuristic< mygraph_t, cost, location* >(locations, goal),

predecessor_map(

make_iterator_property_map(p.begin(), get(vertex_index, g)))

.distance_map(

make_iterator_property_map(d.begin(), get(vertex_index, g)))

.visitor(astar_goal_visitor< vertex >(goal)));

}

catch (found_goal fg)

{ // found a path to the goal

list< vertex > shortest_path;

for (auto v = goal;; v = p[v])

{

shortest_path.push_front(v);

if (p[v] == v)

break;

}

cout << "Shortest path from " << name[start] << " to " << name[goal]

<< ": ";

auto spi = shortest_path.begin();

cout << name[start];

for (++spi; spi != shortest_path.end(); ++spi)

cout << " -> " << name[*spi];

cout << endl << "Total travel time: " << d[goal] << endl;

return 0;

}

cout << "Didn't find a path from " << name[start] << "to" << name[goal]

<< "!" << endl;

return 0;

}