remove cost function from alryslib.c
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36008ace47
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@ -103,36 +103,6 @@ void segments(double x1, double y1, double x2, double y2, double *lx, double *ly
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++*ls;
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}
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double cost(double x1, double y1, double x2, double y2)
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{
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int c1, c2, k, ls;
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double result, x, y, lx[128], ly[128];
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c1 = data[(int)(x1) + (int)(y1) * 146];
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c2 = data[(int)(x2) + (int)(y2) * 146];
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if(c1 == 1 || c2 == 1 || c1 == 3 || c2 == 3) return -1.0;
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segments(x1, y1, x2, y2, lx, ly, &ls);
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result = 0.1;
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x = x1;
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y = y1;
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for(k = 1; k < ls; ++k)
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{
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c1 = data[(int)(MIN(x, lx[k])) + (int)(MIN(y, ly[k])) * 146];
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c2 = data[(int)(lx[k]) + (int)(ly[k]) * 146];
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if(c1 == 1 || c2 == 1 || c1 == 3 || c2 == 3) return -1.0;
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result += hypot(lx[k] - x, ly[k] - y) * (0.2 + (c1 == 5) * 0.1 + (c1 == 4) * 0.2 + (c1 == 2) * 0.3);
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x = lx[k];
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y = ly[k];
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}
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return result;
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}
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void forward(struct STATE *state, double l)
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{
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int c1, c2, i, k, xr, yr, in, ls;
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