node-red-contrib-tak-registration/node_modules/@turf/shortest-path/dist/cjs/index.cjs

A Node-RED node to register to TAK and to help wrap files as datapackages to send to TAK

"use strict";Object.defineProperty(exports, "__esModule", {value: true});// index.ts
var _bbox = require('@turf/bbox');
var _booleanpointinpolygon = require('@turf/boolean-point-in-polygon');
var _distance = require('@turf/distance');
var _transformscale = require('@turf/transform-scale');
var _cleancoords = require('@turf/clean-coords');
var _bboxpolygon = require('@turf/bbox-polygon');
var _invariant = require('@turf/invariant');







var _helpers = require('@turf/helpers');

// lib/javascript-astar.js
function pathTo(node) {
  var curr = node, path = [];
  while (curr.parent) {
    path.unshift(curr);
    curr = curr.parent;
  }
  return path;
}
function getHeap() {
  return new BinaryHeap(function(node) {
    return node.f;
  });
}
var astar = {
  /**
   * Perform an A* Search on a graph given a start and end node.
   *
   * @private
   * @memberof astar
   * @param {Graph} graph Graph
   * @param {GridNode} start Start
   * @param {GridNode} end End
   * @param {Object} [options] Options
   * @param {bool} [options.closest] Specifies whether to return the path to the closest node if the target is unreachable.
   * @param {Function} [options.heuristic] Heuristic function (see astar.heuristics).
   * @returns {Object} Search
   */
  search: function(graph, start, end, options) {
    var _a;
    graph.cleanDirty();
    options = options || {};
    var heuristic = options.heuristic || astar.heuristics.manhattan, closest = (_a = options.closest) != null ? _a : false;
    var openHeap = getHeap(), closestNode = start;
    start.h = heuristic(start, end);
    openHeap.push(start);
    while (openHeap.size() > 0) {
      var currentNode = openHeap.pop();
      if (currentNode === end) {
        return pathTo(currentNode);
      }
      currentNode.closed = true;
      var neighbors = graph.neighbors(currentNode);
      for (var i = 0, il = neighbors.length; i < il; ++i) {
        var neighbor = neighbors[i];
        if (neighbor.closed || neighbor.isWall()) {
          continue;
        }
        var gScore = currentNode.g + neighbor.getCost(currentNode), beenVisited = neighbor.visited;
        if (!beenVisited || gScore < neighbor.g) {
          neighbor.visited = true;
          neighbor.parent = currentNode;
          neighbor.h = neighbor.h || heuristic(neighbor, end);
          neighbor.g = gScore;
          neighbor.f = neighbor.g + neighbor.h;
          graph.markDirty(neighbor);
          if (closest) {
            if (neighbor.h < closestNode.h || neighbor.h === closestNode.h && neighbor.g < closestNode.g) {
              closestNode = neighbor;
            }
          }
          if (!beenVisited) {
            openHeap.push(neighbor);
          } else {
            openHeap.rescoreElement(neighbor);
          }
        }
      }
    }
    if (closest) {
      return pathTo(closestNode);
    }
    return [];
  },
  // See list of heuristics: http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html
  heuristics: {
    manhattan: function(pos0, pos1) {
      var d1 = Math.abs(pos1.x - pos0.x);
      var d2 = Math.abs(pos1.y - pos0.y);
      return d1 + d2;
    },
    diagonal: function(pos0, pos1) {
      var D = 1;
      var D2 = Math.sqrt(2);
      var d1 = Math.abs(pos1.x - pos0.x);
      var d2 = Math.abs(pos1.y - pos0.y);
      return D * (d1 + d2) + (D2 - 2 * D) * Math.min(d1, d2);
    }
  },
  cleanNode: function(node) {
    node.f = 0;
    node.g = 0;
    node.h = 0;
    node.visited = false;
    node.closed = false;
    node.parent = null;
  }
};
function Graph(gridIn, options) {
  options = options || {};
  this.nodes = [];
  this.diagonal = !!options.diagonal;
  this.grid = [];
  for (var x = 0; x < gridIn.length; x++) {
    this.grid[x] = [];
    for (var y = 0, row = gridIn[x]; y < row.length; y++) {
      var node = new GridNode(x, y, row[y]);
      this.grid[x][y] = node;
      this.nodes.push(node);
    }
  }
  this.init();
}
Graph.prototype.init = function() {
  this.dirtyNodes = [];
  for (var i = 0; i < this.nodes.length; i++) {
    astar.cleanNode(this.nodes[i]);
  }
};
Graph.prototype.cleanDirty = function() {
  for (var i = 0; i < this.dirtyNodes.length; i++) {
    astar.cleanNode(this.dirtyNodes[i]);
  }
  this.dirtyNodes = [];
};
Graph.prototype.markDirty = function(node) {
  this.dirtyNodes.push(node);
};
Graph.prototype.neighbors = function(node) {
  var ret = [], x = node.x, y = node.y, grid = this.grid;
  if (grid[x - 1] && grid[x - 1][y]) {
    ret.push(grid[x - 1][y]);
  }
  if (grid[x + 1] && grid[x + 1][y]) {
    ret.push(grid[x + 1][y]);
  }
  if (grid[x] && grid[x][y - 1]) {
    ret.push(grid[x][y - 1]);
  }
  if (grid[x] && grid[x][y + 1]) {
    ret.push(grid[x][y + 1]);
  }
  if (this.diagonal) {
    if (grid[x - 1] && grid[x - 1][y - 1]) {
      ret.push(grid[x - 1][y - 1]);
    }
    if (grid[x + 1] && grid[x + 1][y - 1]) {
      ret.push(grid[x + 1][y - 1]);
    }
    if (grid[x - 1] && grid[x - 1][y + 1]) {
      ret.push(grid[x - 1][y + 1]);
    }
    if (grid[x + 1] && grid[x + 1][y + 1]) {
      ret.push(grid[x + 1][y + 1]);
    }
  }
  return ret;
};
Graph.prototype.toString = function() {
  var graphString = [], nodes = this.grid, rowDebug, row, y, l;
  for (var x = 0, len = nodes.length; x < len; x++) {
    rowDebug = [];
    row = nodes[x];
    for (y = 0, l = row.length; y < l; y++) {
      rowDebug.push(row[y].weight);
    }
    graphString.push(rowDebug.join(" "));
  }
  return graphString.join("\n");
};
function GridNode(x, y, weight) {
  this.x = x;
  this.y = y;
  this.weight = weight;
}
GridNode.prototype.toString = function() {
  return "[" + this.x + " " + this.y + "]";
};
GridNode.prototype.getCost = function(fromNeighbor) {
  if (fromNeighbor && fromNeighbor.x !== this.x && fromNeighbor.y !== this.y) {
    return this.weight * 1.41421;
  }
  return this.weight;
};
GridNode.prototype.isWall = function() {
  return this.weight === 0;
};
function BinaryHeap(scoreFunction) {
  this.content = [];
  this.scoreFunction = scoreFunction;
}
BinaryHeap.prototype = {
  push: function(element) {
    this.content.push(element);
    this.sinkDown(this.content.length - 1);
  },
  pop: function() {
    var result = this.content[0];
    var end = this.content.pop();
    if (this.content.length > 0) {
      this.content[0] = end;
      this.bubbleUp(0);
    }
    return result;
  },
  remove: function(node) {
    var i = this.content.indexOf(node);
    var end = this.content.pop();
    if (i !== this.content.length - 1) {
      this.content[i] = end;
      if (this.scoreFunction(end) < this.scoreFunction(node)) {
        this.sinkDown(i);
      } else {
        this.bubbleUp(i);
      }
    }
  },
  size: function() {
    return this.content.length;
  },
  rescoreElement: function(node) {
    this.sinkDown(this.content.indexOf(node));
  },
  sinkDown: function(n) {
    var element = this.content[n];
    while (n > 0) {
      var parentN = (n + 1 >> 1) - 1, parent = this.content[parentN];
      if (this.scoreFunction(element) < this.scoreFunction(parent)) {
        this.content[parentN] = element;
        this.content[n] = parent;
        n = parentN;
      } else {
        break;
      }
    }
  },
  bubbleUp: function(n) {
    var length = this.content.length, element = this.content[n], elemScore = this.scoreFunction(element);
    while (true) {
      var child2N = n + 1 << 1, child1N = child2N - 1;
      var swap = null, child1Score;
      if (child1N < length) {
        var child1 = this.content[child1N];
        child1Score = this.scoreFunction(child1);
        if (child1Score < elemScore) {
          swap = child1N;
        }
      }
      if (child2N < length) {
        var child2 = this.content[child2N], child2Score = this.scoreFunction(child2);
        if (child2Score < (swap === null ? elemScore : child1Score)) {
          swap = child2N;
        }
      }
      if (swap !== null) {
        this.content[n] = this.content[swap];
        this.content[swap] = element;
        n = swap;
      } else {
        break;
      }
    }
  }
};

// index.ts
function shortestPath(start, end, options = {}) {
  options = options || {};
  if (!_helpers.isObject.call(void 0, options)) throw new Error("options is invalid");
  let obstacles = options.obstacles || _helpers.featureCollection.call(void 0, []);
  let resolution = options.resolution || 100;
  if (!start) throw new Error("start is required");
  if (!end) throw new Error("end is required");
  if (resolution && (!_helpers.isNumber.call(void 0, resolution) || resolution <= 0))
    throw new Error("options.resolution must be a number, greater than 0");
  const startCoord = _invariant.getCoord.call(void 0, start);
  const endCoord = _invariant.getCoord.call(void 0, end);
  start = _helpers.point.call(void 0, startCoord);
  end = _helpers.point.call(void 0, endCoord);
  if (obstacles.type === "FeatureCollection") {
    if (obstacles.features.length === 0) {
      return _helpers.lineString.call(void 0, [startCoord, endCoord]);
    }
  } else if (obstacles.type === "Polygon") {
    obstacles = _helpers.featureCollection.call(void 0, [_helpers.feature.call(void 0, _invariant.getGeom.call(void 0, obstacles))]);
  } else {
    throw new Error("invalid obstacles");
  }
  const collection = obstacles;
  collection.features.push(start);
  collection.features.push(end);
  const box = _bbox.bbox.call(void 0, _transformscale.transformScale.call(void 0, _bboxpolygon.bboxPolygon.call(void 0, _bbox.bbox.call(void 0, collection)), 1.15));
  const [west, south, east, north] = box;
  const width = _distance.distance.call(void 0, [west, south], [east, south], options);
  const division = width / resolution;
  collection.features.pop();
  collection.features.pop();
  const xFraction = division / _distance.distance.call(void 0, [west, south], [east, south], options);
  const cellWidth = xFraction * (east - west);
  const yFraction = division / _distance.distance.call(void 0, [west, south], [west, north], options);
  const cellHeight = yFraction * (north - south);
  const bboxHorizontalSide = east - west;
  const bboxVerticalSide = north - south;
  const columns = Math.floor(bboxHorizontalSide / cellWidth);
  const rows = Math.floor(bboxVerticalSide / cellHeight);
  const deltaX = (bboxHorizontalSide - columns * cellWidth) / 2;
  const deltaY = (bboxVerticalSide - rows * cellHeight) / 2;
  const pointMatrix = [];
  const matrix = [];
  let closestToStart;
  let closestToEnd;
  let minDistStart = Infinity;
  let minDistEnd = Infinity;
  let currentY = north - deltaY;
  let r = 0;
  while (currentY >= south) {
    const matrixRow = [];
    const pointMatrixRow = [];
    let currentX = west + deltaX;
    let c = 0;
    while (currentX <= east) {
      const pt = _helpers.point.call(void 0, [currentX, currentY]);
      const isInsideObstacle = isInside(pt, obstacles);
      matrixRow.push(isInsideObstacle ? 0 : 1);
      pointMatrixRow.push(currentX + "|" + currentY);
      const distStart = _distance.distance.call(void 0, pt, start);
      if (!isInsideObstacle && distStart < minDistStart) {
        minDistStart = distStart;
        closestToStart = { x: c, y: r };
      }
      const distEnd = _distance.distance.call(void 0, pt, end);
      if (!isInsideObstacle && distEnd < minDistEnd) {
        minDistEnd = distEnd;
        closestToEnd = { x: c, y: r };
      }
      currentX += cellWidth;
      c++;
    }
    matrix.push(matrixRow);
    pointMatrix.push(pointMatrixRow);
    currentY -= cellHeight;
    r++;
  }
  const graph = new Graph(matrix, { diagonal: true });
  const startOnMatrix = graph.grid[closestToStart.y][closestToStart.x];
  const endOnMatrix = graph.grid[closestToEnd.y][closestToEnd.x];
  const result = astar.search(graph, startOnMatrix, endOnMatrix);
  const path = [startCoord];
  result.forEach(function(coord) {
    const coords = pointMatrix[coord.x][coord.y].split("|");
    path.push([+coords[0], +coords[1]]);
  });
  path.push(endCoord);
  return _cleancoords.cleanCoords.call(void 0, _helpers.lineString.call(void 0, path));
}
function isInside(pt, polygons) {
  for (let i = 0; i < polygons.features.length; i++) {
    if (_booleanpointinpolygon.booleanPointInPolygon.call(void 0, pt, polygons.features[i])) {
      return true;
    }
  }
  return false;
}
var turf_shortest_path_default = shortestPath;



exports.default = turf_shortest_path_default; exports.shortestPath = shortestPath;
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