From 93004ae1a60d2e325ce4622033381d73da34ca07 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 9 May 2018 11:55:36 +0200
Subject: [PATCH] Improve readability of CrossStateOptimization
---
.../cross-state-optimization.cc | 18 +++++++++++-------
1 file changed, 11 insertions(+), 7 deletions(-)
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index 2cc7e36..4d1cefb 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -94,7 +94,11 @@ namespace hpp {
typedef std::vector<state_with_depth> state_with_depths_t;
typedef std::map<StatePtr_t,state_with_depths_t> StateMap_t;
/// std::size_t is the index in state_with_depths_t at StateMap_t::iterator
- typedef std::pair<StateMap_t::iterator, std::size_t> state_with_depth_ptr_t;
+ struct state_with_depth_ptr_t {
+ StateMap_t::iterator state;
+ std::size_t parentIdx;
+ state_with_depth_ptr_t (const StateMap_t::iterator& it, std::size_t idx) : state (it), parentIdx (idx) {}
+ };
typedef std::queue<state_with_depth_ptr_t> Queue_t;
typedef std::set<EdgePtr_t> VisitedEdge_t;
std::size_t maxDepth;
@@ -104,8 +108,8 @@ namespace hpp {
const state_with_depth& getParent(const state_with_depth_ptr_t& _p) const
{
- const state_with_depths_t& parents = _p.first->second;
- return parents[_p.second];
+ const state_with_depths_t& parents = _p.state->second;
+ return parents[_p.parentIdx];
}
state_with_depth_ptr_t addInitState()
@@ -119,8 +123,8 @@ namespace hpp {
const state_with_depth_ptr_t& _p,
const EdgePtr_t& transition)
{
- const state_with_depths_t& parents = _p.first->second;
- const state_with_depth& from = parents[_p.second];
+ const state_with_depths_t& parents = _p.state->second;
+ const state_with_depth& from = parents[_p.parentIdx];
// Insert state to if necessary
StateMap_t::iterator next = parent1.insert (
@@ -129,7 +133,7 @@ namespace hpp {
)).first;
next->second.push_back (
- state_with_depth(transition, from.l + 1, _p.second));
+ state_with_depth(transition, from.l + 1, _p.parentIdx));
return state_with_depth_ptr_t (next, next->second.size()-1);
}
@@ -147,7 +151,7 @@ namespace hpp {
bool done = false;
- const Neighbors_t& neighbors = _state.first->first->neighbors();
+ const Neighbors_t& neighbors = _state.state->first->neighbors();
for (Neighbors_t::const_iterator _n = neighbors.begin();
_n != neighbors.end(); ++_n) {
EdgePtr_t transition = _n->second;
--
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