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BREAKING CHANGE: the routing engine does not use the kd-tree anymore, but an external memory nearest neighbor grid. The memory consumption is less than half. This is a breaking change, please reprocess your .osrm files and take note that the parameter to routed have been changed!

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Known Bug: There are some minor rounding errors that affect the position of start and destination node by a few feet.
This commit is contained in:
Dennis Luxen
2010-08-31 14:00:40 +00:00
parent 027c0e46ee
commit 0875c2d557
16 changed files with 1007 additions and 151 deletions
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Contractor/ContractionCleanup.h
-1
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@@ -58,7 +58,6 @@ private:
}
};
public:
struct Edge {
Contractor/Contractor.h
+1 -3
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@@ -293,8 +293,7 @@ public:
for ( int threadNum = 0; threadNum < maxThreads; ++threadNum ) {
threadData.push_back( new _ThreadData( numberOfNodes ) );
}
cout << numberOfNodes << " nodes, " << _graph->GetNumberOfEdges() << " edges" << endl;
cout << "using " << maxThreads << " threads" << endl;
cout << "Contractor is using " << maxThreads << " threads" << endl;
NodeID levelID = 0;
NodeID iteration = 0;
@@ -520,7 +519,6 @@ private:
delete bfsStack;
}
double _Timestamp() {
return time(NULL);
}
Contractor/SearchEngine.h
+85 -19
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@@ -16,7 +16,7 @@ You should have received a copy of the GNU Affero General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
or see http://www.gnu.org/licenses/agpl.txt.
*/
*/
#ifndef SEARCHENGINE_H_
#define SEARCHENGINE_H_
@@ -25,6 +25,7 @@ or see http://www.gnu.org/licenses/agpl.txt.
#include <deque>
#include "BinaryHeap.h"
#include "../DataStructures/PhantomNodes.h"
#include "../typedefs.h"
struct _HeapData {
@@ -34,17 +35,19 @@ struct _HeapData {
typedef BinaryHeap< NodeID, int, int, _HeapData, DenseStorage< NodeID, unsigned > > _Heap;
template<typename EdgeData, typename GraphT, typename KDTST = NodeInformationHelpDesk>
template<typename EdgeData, typename GraphT, typename NodeHelperT = NodeInformationHelpDesk>
class SearchEngine {
private:
const GraphT * _graph;
inline double absDouble(double input) { if(input < 0) return input*(-1); else return input;}
public:
SearchEngine(GraphT * g, KDTST * k) : _graph(g), nodeHelpDesk(k) {}
SearchEngine(GraphT * g, NodeHelperT * nh) : _graph(g), nodeHelpDesk(nh) {}
~SearchEngine() {}
const void getNodeInfo(NodeID id, NodeInfo * info) const
const void getNodeInfo(NodeID id, _Coordinate& result) const
{
nodeHelpDesk->getExternalNodeInfo(id, info);
result.lat = nodeHelpDesk->getLatitudeOfNode(id);
result.lon = nodeHelpDesk->getLongitudeOfNode(id);
}
unsigned int numberOfNodes() const
@@ -52,14 +55,77 @@ public:
return nodeHelpDesk->getNumberOfNodes();
}
unsigned int ComputeRoute(NodeID start, NodeID target, vector<NodeID> * path)
unsigned int ComputeRoute(PhantomNodes * phantomNodes, vector<NodeID> * path, _Coordinate& startCoord, _Coordinate& targetCoord)
{
bool onSameEdge = false;
_Heap * _forwardHeap = new _Heap(nodeHelpDesk->getNumberOfNodes());
_Heap * _backwardHeap = new _Heap(nodeHelpDesk->getNumberOfNodes());
NodeID middle = ( NodeID ) 0;
unsigned int _upperbound = std::numeric_limits<unsigned int>::max();
_forwardHeap->Insert(start, 0, start);
_backwardHeap->Insert(target, 0, target);
if(phantomNodes->startNode1 == UINT_MAX || phantomNodes->startNode2 == UINT_MAX)
return _upperbound;
if( (phantomNodes->startNode1 == phantomNodes->targetNode1 && phantomNodes->startNode2 == phantomNodes->targetNode2 ) )
{
EdgeID currentEdge = _graph->FindEdge( phantomNodes->startNode1, phantomNodes->startNode2 );
if(currentEdge == UINT_MAX)
currentEdge = _graph->FindEdge( phantomNodes->startNode2, phantomNodes->startNode1 );
if(currentEdge != UINT_MAX && _graph->GetEdgeData(currentEdge).forward && phantomNodes->startRatio < phantomNodes->targetRatio)
{ //upperbound auf kantenlänge setzen
cout << "start and target on same edge" << endl;
onSameEdge = true;
_upperbound = 10 * ApproximateDistance(phantomNodes->startCoord.lat, phantomNodes->startCoord.lon, phantomNodes->targetCoord.lat, phantomNodes->targetCoord.lon);
} else if (currentEdge != UINT_MAX && !_graph->GetEdgeData(currentEdge).backward) {
EdgeWeight w = _graph->GetEdgeData( currentEdge ).distance;
_forwardHeap->Insert(phantomNodes->startNode2, absDouble(w*phantomNodes->startRatio), phantomNodes->startNode2);
_backwardHeap->Insert(phantomNodes->startNode1, absDouble(w-w*phantomNodes->startRatio), phantomNodes->startNode1);
} else if (currentEdge != UINT_MAX && _graph->GetEdgeData(currentEdge).backward)
{
onSameEdge = true;
_upperbound = 10 * ApproximateDistance(phantomNodes->startCoord.lat, phantomNodes->startCoord.lon, phantomNodes->targetCoord.lat, phantomNodes->targetCoord.lon);
}
} else {
if(phantomNodes->startNode1 != UINT_MAX)
{
EdgeID forwardEdge = _graph->FindEdge( phantomNodes->startNode1, phantomNodes->startNode2);
if(forwardEdge == UINT_MAX)
forwardEdge = _graph->FindEdge( phantomNodes->startNode2, phantomNodes->startNode1 );
if(forwardEdge != UINT_MAX && _graph->GetEdgeData(forwardEdge).forward )
{ //insert forward edge (coord, s1) in forward heap;
EdgeWeight w = _graph->GetEdgeData(forwardEdge ).distance;
_forwardHeap->Insert(phantomNodes->startNode1, absDouble(w*phantomNodes->startRatio), phantomNodes->startNode1);
}
EdgeID backEdge = _graph->FindEdge( phantomNodes->startNode2, phantomNodes->startNode1);
if(backEdge == UINT_MAX)
backEdge = _graph->FindEdge( phantomNodes->startNode1, phantomNodes->startNode2 );
if(backEdge != UINT_MAX && _graph->GetEdgeData(backEdge).backward )
{ //insert forward edge (coord, s2) in forward heap;
EdgeWeight w = _graph->GetEdgeData( backEdge ).distance;
_forwardHeap->Insert(phantomNodes->startNode2, absDouble(w-w*phantomNodes->startRatio), phantomNodes->startNode2);
}
}
if(phantomNodes->targetNode1 != UINT_MAX)
{
EdgeID forwardEdge = _graph->FindEdge( phantomNodes->targetNode1, phantomNodes->targetNode2);
if(forwardEdge == UINT_MAX)
forwardEdge = _graph->FindEdge( phantomNodes->targetNode2, phantomNodes->targetNode1 );
if(forwardEdge != UINT_MAX && _graph->GetEdgeData(forwardEdge).forward )
{ //insert forward edge (coord, s1) in forward heap;
EdgeWeight w = _graph->GetEdgeData( forwardEdge ).distance;
_backwardHeap->Insert(phantomNodes->targetNode1, absDouble(w * phantomNodes->targetRatio), phantomNodes->targetNode1);
}
EdgeID backwardEdge = _graph->FindEdge( phantomNodes->targetNode2, phantomNodes->targetNode1);
if(backwardEdge == UINT_MAX)
backwardEdge = _graph->FindEdge( phantomNodes->targetNode1, phantomNodes->targetNode2 );
if(backwardEdge != UINT_MAX && _graph->GetEdgeData( backwardEdge ).backward )
{ //insert forward edge (coord, s2) in forward heap;
EdgeWeight w = _graph->GetEdgeData( backwardEdge ).distance;
_backwardHeap->Insert(phantomNodes->targetNode2, absDouble(w - w * phantomNodes->targetRatio), phantomNodes->targetNode2);
}
}
}
while(_forwardHeap->Size() + _backwardHeap->Size() > 0)
{
@@ -71,24 +137,21 @@ public:
}
}
if ( _upperbound == std::numeric_limits< unsigned int >::max() )
if ( _upperbound == std::numeric_limits< unsigned int >::max() || onSameEdge )
return _upperbound;
NodeID pathNode = middle;
NodeID unpackEndNode = start;
deque< NodeID > packedPath;
while ( pathNode != unpackEndNode ) {
while ( pathNode != phantomNodes->startNode1 && pathNode != phantomNodes->startNode2 ) {
pathNode = _forwardHeap->GetData( pathNode ).parent;
packedPath.push_front( pathNode );
}
packedPath.push_back( middle );
pathNode = middle;
unpackEndNode = target;
while ( pathNode != unpackEndNode ) {
while ( pathNode != phantomNodes->targetNode2 && pathNode != phantomNodes->targetNode1 ) {
pathNode = _backwardHeap->GetData( pathNode ).parent;
packedPath.push_back( pathNode );
}
@@ -107,12 +170,17 @@ public:
return _upperbound/10;
}
unsigned int findNearestNodeForLatLon(const int lat, const int lon, NodeCoords<NodeID> * data) const
inline unsigned int findNearestNodeForLatLon(const _Coordinate& coord, _Coordinate& result) const
{
return nodeHelpDesk->findNearestNodeIDForLatLon( lat, lon, data);
nodeHelpDesk->findNearestNodeIDForLatLon( coord, result );
}
inline bool FindRoutingStarts(const _Coordinate start, const _Coordinate target, PhantomNodes * routingStarts)
{
nodeHelpDesk->FindRoutingStarts(start, target, routingStarts);
}
private:
KDTST * nodeHelpDesk;
NodeHelperT * nodeHelpDesk;
void _RoutingStep(_Heap * _forwardHeap, _Heap *_backwardHeap, const bool& forwardDirection, NodeID * middle, unsigned int * _upperbound)
{
@@ -160,7 +228,6 @@ private:
EdgeWeight smallestWeight = UINT_MAX;
for(typename GraphT::EdgeIterator eit = _graph->BeginEdges(source); eit < _graph->EndEdges(source); eit++)
{
//const NodeID target = GetTarget(edge);
const EdgeWeight weight = _graph->GetEdgeData(eit).distance;
{
if(_graph->GetTarget(eit) == target && weight < smallestWeight && _graph->GetEdgeData(eit).forward)
@@ -173,7 +240,6 @@ private:
{
for(typename GraphT::EdgeIterator eit = _graph->BeginEdges(target); eit < _graph->EndEdges(target); eit++)
{
//const NodeID target = GetTarget(edge);
const EdgeWeight weight = _graph->GetEdgeData(eit).distance;
{
if(_graph->GetTarget(eit) == source && weight < smallestWeight && _graph->GetEdgeData(eit).backward)