moved the route reconstruction into the Route struct

src/astar.rs

@@ -8,11 +8,17 @@ pub struct AStar<'a> {
     pub graph: &'a GridGraph,
 }
 
+/// An element on the Heap for A*.
+/// The Ord and PartialOrd Traits are inverted so that the MaxHeap works as a
+/// MinHeap.
+/// index is the index of the Node, cost is the cost which the heap sorts after.
+/// path_cost is the actual cost of the path to that node.
 #[derive(Eq, PartialEq)]
 struct HeapElement {
     index: u32,
-    cost: EdgeCost, // the cost so far plus the estimated cost until we reach the
+
-    // destination
+    // the cost so far plus the estimated cost until we reach the destination
+    cost: EdgeCost,
     path_cost: EdgeCost, // the cost to reach this node from the start node
 }
 
@@ -64,10 +70,7 @@ impl AStar<'_> {
         let mut popcount = 0;
 
         while let Some(HeapElement {
-            index,
+            index, path_cost, ..
-            cost, // the cost value, no longer needed, because it is only important for the
-            // distance estimate
-            path_cost,
         }) = heap.pop()
         {
             //println!("working on node {} with cost {} and path cost {}", index, cost, path_cost);
@@ -113,30 +116,6 @@ impl AStar<'_> {
 
         println!("popped {} elements from the heap", popcount);
 
-        // now the route calculation is done. If a route exist we can construct
+        Route::construct(self.graph, &ancestor, &distance, start, end)
-        // it from the ancestors.
-        if ancestor[end.index as usize].is_some() {
-            let mut route = Route {
-                cost: distance[end.index as usize],
-                nodes: Vec::new(),
-            };
-
-            let mut current = end.index;
-            while current != start.index {
-                route
-                    .nodes
-                    .push(self.graph.nodes[current as usize].position);
-                current = ancestor[current as usize].unwrap();
-            }
-            route
-                .nodes
-                .push(self.graph.nodes[current as usize].position);
-
-            route.nodes.reverse();
-
-            return Some(route);
-        }
-
-        None
     }
 }

src/gridgraph.rs

@@ -107,6 +107,34 @@ impl LookupGrid {
 }
 
 impl Route {
+
+    /// Constructs a route from the start to the end node on the graph
+    /// based on the ancestor and distance lists of a routing algorithm.
+    pub fn construct(graph: &GridGraph, ancestors: &Vec<Option<u32>>, distance: &Vec<EdgeCost>, start: &GraphNode, end: &GraphNode) -> Option<Self>{
+        if ancestors[end.index as usize].is_some() {
+            let mut route = Route {
+                cost: distance[end.index as usize],
+                nodes: Vec::new(),
+            };
+
+            let mut current = end.index;
+            while current != start.index {
+                route
+                    .nodes
+                    .push(graph.nodes[current as usize].position);
+                current = ancestors[current as usize].unwrap();
+            }
+            route
+                .nodes
+                .push(graph.nodes[current as usize].position);
+
+            route.nodes.reverse();
+
+            return Some(route);
+        }
+        None
+    }
+
     pub fn to_geojson(&self) -> Box<FeatureCollection> {
         let mut features: Box<FeatureCollection> = Box::new(FeatureCollection {
             bbox: None,
@@ -205,10 +233,7 @@ impl GridGraph {
 
             //println!("working on node {} with cost {}", index, cost);
 
-            let edge_start = self.edge_offsets[index as usize] as usize;
+            for edge in self.get_edges(index as usize).iter() {
-            let edge_end = self.edge_offsets[(index + 1) as usize] as usize;
-
-            for edge in self.edges[edge_start..edge_end].iter() {
                 let new_cost = cost + edge.cost;
 
                 if new_cost < distance[edge.neighbor as usize] {
@@ -228,27 +253,7 @@ impl GridGraph {
 
         println!("popped {} elements from the heap", popcount);
 
-        // now the route calculation is done. If a route exist we can construct
+        Route::construct(self, &ancestor, &distance, start, end)
-        // it from the ancestors.
-        if ancestor[end.index as usize].is_some() {
-            let mut route = Route {
-                cost: distance[end.index as usize],
-                nodes: Vec::new(),
-            };
-
-            let mut current = end.index;
-            while current != start.index {
-                route.nodes.push(self.nodes[current as usize].position);
-                current = ancestor[current as usize].unwrap();
-            }
-            route.nodes.push(self.nodes[current as usize].position);
-
-            route.nodes.reverse();
-
-            return Some(route);
-        }
-
-        None
     }
 
     /// returns the GraphNode nearest to that positon.