obst_condition refactor

src/lib/GVD/GVDIC.cpp

@@ -31,63 +31,55 @@ pos_set updated_obst_size;
 
 
 // wrapers to set (or replace) and to insert (or union) obstacles that checks if obst_cond_to_false must be modified
-void GVDIC::set_obsts(CellDataO &cd, pos_set new_obsts, pos p){
-  cd.obsts = new_obsts;
-  int new_size = cd.obsts.size();
-  if ( cd.old_obsts_size > 1 && new_size > 1){
+
+// must be called after a obsts update
+void obsts_updated_hook(pos p,int old_size, int pre_update_size, int updated_size, bool is_obst = false){
+  if (pre_update_size == updated_size){
+    return;
+  }
+  if ( !is_obst && old_size > 1 && updated_size <= 1 ){
+    /* cout<<"insert "<<p<<endl; */
+    obst_cond_to_false.insert(p);
+  }   
+  if ( old_size > 1 && updated_size > 1){
     obst_cond_to_false.erase(p);
   }
-  if(cd.old_obsts_size !=new_size){
+  if(old_size !=updated_size){
     updated_obst_size.insert(p);
   }else {
     updated_obst_size.erase(p);
   }
 }
 
+void GVDIC::set_obsts(CellDataO &cd, pos_set new_obsts, pos p){
+  int pre_updated_size = cd.obsts.size();
+  cd.obsts = new_obsts;
+  obsts_updated_hook(p,cd.old_obsts_size,pre_updated_size,cd.obsts.size());
+}
+
 void GVDIC::set_obsts(CellDataO &cd, vector<pos> new_obsts, pos p){
+  int pre_updated_size = cd.obsts.size();
   cd.obsts.clear();
   cd.obsts.insert(new_obsts.begin(),new_obsts.end());
-  int new_size = cd.obsts.size();
-  if ( cd.old_obsts_size > 1 && new_size > 1){
-    obst_cond_to_false.erase(p);
-  }
-  if(cd.old_obsts_size !=new_size){
-    updated_obst_size.insert(p);
-  }else {
-    updated_obst_size.erase(p);
-  }
+  obsts_updated_hook(p,cd.old_obsts_size,pre_updated_size,cd.obsts.size());
 }
 
 void GVDIC::insert_obsts(CellDataO &cd,pos_set new_obsts,pos p){
+  int pre_updated_size = cd.obsts.size();
   cd.obsts.insert(new_obsts.begin(),new_obsts.end());
-  int new_size = cd.obsts.size();
-  if ( cd.old_obsts_size > 1 && new_size > 1){
-    obst_cond_to_false.erase(p);
-  }
-  if(cd.old_obsts_size !=new_size){
-    updated_obst_size.insert(p);
-  }else {
-    updated_obst_size.erase(p);
-  }
+  obsts_updated_hook(p,cd.old_obsts_size,pre_updated_size,cd.obsts.size());
 }
 
 void GVDIC::insert_obsts(CellDataO &cd,vector<pos> new_obsts,pos p){
+  int pre_updated_size = cd.obsts.size();
   cd.obsts.insert(new_obsts.begin(),new_obsts.end());
-  int new_size = cd.obsts.size();
-  if ( cd.old_obsts_size > 1 && new_size > 1){
-    obst_cond_to_false.erase(p);
-  }
-  if(cd.old_obsts_size !=new_size){
-    updated_obst_size.insert(p);
-  }else {
-    updated_obst_size.erase(p);
-  }
-  
+  obsts_updated_hook(p,cd.old_obsts_size,pre_updated_size,cd.obsts.size());
 }
 
 // recheck obstacles of n removing the invalid ones O(1) as you can only
 // have up to 8 equidistant obstacles in a 2D grid
 bool GVDIC::is_occ(CellDataO& cd, pos p) {
+  int pre_updated_size = cd.obsts.size();
   for (auto it = cd.obsts.begin(); it != cd.obsts.end();) {
     pos obst = (*it);
     if (gt[obst.first][obst.second] != Occupied) {
@@ -96,18 +88,7 @@ bool GVDIC::is_occ(CellDataO& cd, pos p) {
       ++it;
     }
   }
-  int new_size = cd.obsts.size();
-  // cout << p << "(" << cd.old_obsts_size << "," << new_size << ")" << endl;
-  // cd.dist > 0 if and only if p is not an obstacle 
-  if ( cd.old_obsts_size > 1 && new_size <= 1 && cd.dist > 0){
-    /* cout<<"insert "<<p<<endl; */
-    obst_cond_to_false.insert(p);
-  }      
-  if(cd.old_obsts_size !=new_size){
-    updated_obst_size.insert(p);
-  }else {
-    updated_obst_size.erase(p);
-  }
+  obsts_updated_hook(p,cd.old_obsts_size,pre_updated_size,cd.obsts.size(),cd.dist == 0);
   return cd.obsts.size() > 0;
 }
 
@@ -159,7 +140,7 @@ void GVDIC::set_voro(bool value, pos n) {
     if (!is_elem(gvd.full_graph, n)){
       voro_to_true.insert(n);
     }else{
-      // could check if the distance actually changes to avoid adding n
+      // could check if the distance actually changes to avoid adding n when not necessary
       if(n_cd.dist != n_cd.dist_old){
         distance_update.insert(n);
       }else{
@@ -170,8 +151,8 @@ void GVDIC::set_voro(bool value, pos n) {
   } else {
     if (is_elem(gvd.full_graph, n)){
       voro_to_false.insert(n);
-    }else{
       distance_update.erase(n);
+    }else{
       voro_to_true.erase(n);
     }
   }