for ver1.1

Kei18 · Jan 7, 2021 · 1029067 · 1029067
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commit 1029067
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,166 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
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+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Linux
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: All
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
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+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
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+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,26 @@
+name: build
+
+on:
+  push:
+    branches:
+      - dev
+
+jobs:
+  dev-build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v1
+        with:
+          submodules: true
+
+      - name: build
+        run: |
+          mkdir build
+          cd build
+          cmake ..
+          make
+
+      - name: run-app
+        working-directory: build
+        run: ./app -i ../instances/sample.txt -s PIBT -o result.txt -v
diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,4 @@
 .DS_Store
 /build/
 test.sh
-/instance/map/sample.map
+/instances/toy.txt
diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "openFrameworks"]
-	path = openFrameworks
+	path = third_party/openFrameworks
 	url = https://github.com/openframeworks/openFrameworks.git
+[submodule "third_party/googletest"]
+	path = third_party/googletest
+	url = https://github.com/google/googletest.git
diff --git a/.travis.yml b/.travis.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,32 @@
 cmake_minimum_required(VERSION 3.1)
 project(mapf-refine CXX)
+
 add_subdirectory(./mapf)
+add_subdirectory(./third_party/googletest)
+
 add_executable(app app.cpp)
 target_compile_features(app PUBLIC cxx_std_17)
 target_link_libraries(app lib-mapf)
+
+# format
+add_custom_target(clang-format
+  COMMAND clang-format -i
+  ../mapf/include/*.hpp
+  ../mapf/src/*.cpp
+  ../tests/*.cpp
+  ../app.cpp)
+
+# test
+set(TEST_MAIN_FUNC ./third_party/googletest/googletest/src/gtest_main.cc)
+set(TEST_ALL_SRC ${TEST_MAIN_FUNC})
+macro(add_test name target)
+  add_executable(${name} ${target} ${TEST_MAIN_FUNC})
+  target_link_libraries(${name} lib-mapf gtest)
+  list(APPEND TEST_ALL_SRC ${target})
+endmacro(add_test)
+
+add_test(test_graph ./tests/test_graph.cpp)
+add_test(test_problem ./tests/test_problem.cpp)
+
+add_executable(test ${TEST_ALL_SRC})
+target_link_libraries(test lib-mapf gtest)
diff --git a/LICENCE.txt b/LICENCE.txt
@@ -1,4 +1,4 @@
-Copyright 2020 Keisuke Okumura
+Copyright 2021 Keisuke Okumura
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: