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Refactoring graph factory

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This commit is contained in:
Dennis Luxen 2013-08-14 18:43:01 +02:00
parent b01e30acfd
commit 0a0bed7ae0
4 changed files with 396 additions and 248 deletions
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513
Contractor/EdgeBasedGraphFactory.cpp
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@ -21,52 +21,56 @@
#include "EdgeBasedGraphFactory.h" #include "EdgeBasedGraphFactory.h"
EdgeBasedGraphFactory::EdgeBasedGraphFactory( EdgeBasedGraphFactory::EdgeBasedGraphFactory(
int nodes, std::vector<ImportEdge> & inputEdges, int number_of_nodes,
std::vector<ImportEdge> & input_edge_list,
std::vector<NodeID> & barrier_node_list, std::vector<NodeID> & barrier_node_list,
std::vector<NodeID> & traffic_light_node_list, std::vector<NodeID> & traffic_light_node_list,
std::vector<TurnRestriction> & input_restrictions_list, std::vector<TurnRestriction> & input_restrictions_list,
std::vector<NodeInfo> & inputNodeInfoList, std::vector<NodeInfo> & m_node_info_list,
SpeedProfileProperties speedProfile SpeedProfileProperties speed_profile
) : speedProfile(speedProfile), ) : speed_profile(speed_profile),
m_turn_restrictions_count(0), m_turn_restrictions_count(0),
inputNodeInfoList(inputNodeInfoList) m_node_info_list(m_node_info_list)
{ {
BOOST_FOREACH(const TurnRestriction & restriction, input_restrictions_list) { BOOST_FOREACH(const TurnRestriction & restriction, input_restrictions_list) {
std::pair<NodeID, NodeID> restrictionSource = std::make_pair(restriction.fromNode, restriction.viaNode); std::pair<NodeID, NodeID> restriction_source =
std::make_pair(restriction.fromNode, restriction.viaNode);
unsigned index; unsigned index;
RestrictionMap::iterator restrIter = _restrictionMap.find(restrictionSource); RestrictionMap::iterator restriction_iter = m_restriction_map.find(restriction_source);
if(restrIter == _restrictionMap.end()) { if(restriction_iter == m_restriction_map.end()) {
index = _restrictionBucketVector.size(); index = m_restriction_bucket_list.size();
_restrictionBucketVector.resize(index+1); m_restriction_bucket_list.resize(index+1);
_restrictionMap[restrictionSource] = index; m_restriction_map[restriction_source] = index;
} else { } else {
index = restrIter->second; index = restriction_iter->second;
//Map already contains an is_only_*-restriction //Map already contains an is_only_*-restriction
if(_restrictionBucketVector.at(index).begin()->second) if(m_restriction_bucket_list.at(index).begin()->second) {
continue; continue;
else if(restriction.flags.isOnly){ } else if(restriction.flags.isOnly) {
//We are going to insert an is_only_*-restriction. There can be only one. //We are going to insert an is_only_*-restriction. There can be only one.
m_turn_restrictions_count -= _restrictionBucketVector.at(index).size(); m_turn_restrictions_count -= m_restriction_bucket_list.at(index).size();
_restrictionBucketVector.at(index).clear(); m_restriction_bucket_list.at(index).clear();
} }
} }
++m_turn_restrictions_count; ++m_turn_restrictions_count;
_restrictionBucketVector.at(index).push_back(std::make_pair(restriction.toNode, restriction.flags.isOnly)); m_restriction_bucket_list.at(index).push_back(
std::make_pair( restriction.toNode, restriction.flags.isOnly)
);
} }
_barrierNodes.insert( m_barrier_nodes.insert(
barrier_node_list.begin(), barrier_node_list.begin(),
barrier_node_list.end() barrier_node_list.end()
); );
_trafficLights.insert( m_traffic_lights.insert(
traffic_light_node_list.begin(), traffic_light_node_list.begin(),
traffic_light_node_list.end() traffic_light_node_list.end()
); );
DeallocatingVector< _NodeBasedEdge > edges; DeallocatingVector< NodeBasedEdge > edges_list;
_NodeBasedEdge edge; NodeBasedEdge edge;
BOOST_FOREACH(const ImportEdge & import_edge, inputEdges) { BOOST_FOREACH(const ImportEdge & import_edge, input_edge_list) {
if(!import_edge.isForward()) { if(!import_edge.isForward()) {
edge.source = import_edge.target(); edge.source = import_edge.target();
edge.target = import_edge.source(); edge.target = import_edge.source();
@ -89,139 +93,189 @@ EdgeBasedGraphFactory::EdgeBasedGraphFactory(
edge.data.nameID = import_edge.name(); edge.data.nameID = import_edge.name();
edge.data.type = import_edge.type(); edge.data.type = import_edge.type();
edge.data.isAccessRestricted = import_edge.isAccessRestricted(); edge.data.isAccessRestricted = import_edge.isAccessRestricted();
edge.data.edgeBasedNodeID = edges.size(); edge.data.edgeBasedNodeID = edges_list.size();
edge.data.contraFlow = import_edge.isContraFlow(); edge.data.contraFlow = import_edge.isContraFlow();
edges.push_back( edge ); edges_list.push_back( edge );
if( edge.data.backward ) { if( edge.data.backward ) {
std::swap( edge.source, edge.target ); std::swap( edge.source, edge.target );
edge.data.forward = import_edge.isBackward(); edge.data.forward = import_edge.isBackward();
edge.data.backward = import_edge.isForward(); edge.data.backward = import_edge.isForward();
edge.data.edgeBasedNodeID = edges.size(); edge.data.edgeBasedNodeID = edges_list.size();
edges.push_back( edge ); edges_list.push_back( edge );
} }
} }
std::vector<ImportEdge>().swap(inputEdges); std::vector<ImportEdge>().swap(input_edge_list);
std::sort( edges.begin(), edges.end() ); std::sort( edges_list.begin(), edges_list.end() );
_nodeBasedGraph = boost::make_shared<_NodeBasedDynamicGraph>( nodes, edges ); m_node_based_graph = boost::make_shared<NodeBasedDynamicGraph>(
number_of_nodes, edges_list
);
} }
void EdgeBasedGraphFactory::GetEdgeBasedEdges(DeallocatingVector< EdgeBasedEdge >& outputEdgeList ) { void EdgeBasedGraphFactory::GetEdgeBasedEdges(
DeallocatingVector< EdgeBasedEdge >& output_edge_list
) {
BOOST_ASSERT_MSG( BOOST_ASSERT_MSG(
0 == outputEdgeList.size(), 0 == output_edge_list.size(),
"Vector is not empty" "Vector is not empty"
); );
edgeBasedEdges.swap(outputEdgeList); m_edge_based_edge_list.swap(output_edge_list);
} }
void EdgeBasedGraphFactory::GetEdgeBasedNodes( std::vector<EdgeBasedNode> & nodes) { void EdgeBasedGraphFactory::GetEdgeBasedNodes( std::vector<EdgeBasedNode> & nodes) {
#ifndef NDEBUG #ifndef NDEBUG
BOOST_FOREACH(const EdgeBasedNode & node, edgeBasedNodes){ BOOST_FOREACH(const EdgeBasedNode & node, m_edge_based_node_list){
assert(node.lat1 != INT_MAX); assert(node.lon1 != INT_MAX); assert(node.lat1 != INT_MAX); assert(node.lon1 != INT_MAX);
assert(node.lat2 != INT_MAX); assert(node.lon2 != INT_MAX); assert(node.lat2 != INT_MAX); assert(node.lon2 != INT_MAX);
} }
#endif #endif
nodes.swap(edgeBasedNodes); nodes.swap(m_edge_based_node_list);
} }
NodeID EdgeBasedGraphFactory::CheckForEmanatingIsOnlyTurn( NodeID EdgeBasedGraphFactory::CheckForEmanatingIsOnlyTurn(
const NodeID u, const NodeID u,
const NodeID v const NodeID v
) const { ) const {
const std::pair < NodeID, NodeID > restrictionSource = std::make_pair(u, v); const std::pair < NodeID, NodeID > restriction_source = std::make_pair(u, v);
RestrictionMap::const_iterator restrIter = _restrictionMap.find(restrictionSource); RestrictionMap::const_iterator restriction_iter = m_restriction_map.find(restriction_source);
if (restrIter != _restrictionMap.end()) { if (restriction_iter != m_restriction_map.end()) {
const unsigned index = restrIter->second; const unsigned index = restriction_iter->second;
BOOST_FOREACH(const RestrictionSource & restrictionTarget, _restrictionBucketVector.at(index)) { BOOST_FOREACH(
if(restrictionTarget.second) { const RestrictionSource & restriction_target,
return restrictionTarget.first; m_restriction_bucket_list.at(index)
) {
if(restriction_target.second) {
return restriction_target.first;
} }
} }
} }
return UINT_MAX; return UINT_MAX;
} }
bool EdgeBasedGraphFactory::CheckIfTurnIsRestricted(const NodeID u, const NodeID v, const NodeID w) const { bool EdgeBasedGraphFactory::CheckIfTurnIsRestricted(
const NodeID u,
const NodeID v,
const NodeID w
) const {
//only add an edge if turn is not a U-turn except it is the end of dead-end street. //only add an edge if turn is not a U-turn except it is the end of dead-end street.
const std::pair < NodeID, NodeID > restrictionSource = std::make_pair(u, v); const std::pair < NodeID, NodeID > restriction_source = std::make_pair(u, v);
RestrictionMap::const_iterator restrIter = _restrictionMap.find(restrictionSource); RestrictionMap::const_iterator restriction_iter = m_restriction_map.find(restriction_source);
if (restrIter != _restrictionMap.end()) { if (restriction_iter != m_restriction_map.end()) {
const unsigned index = restrIter->second; const unsigned index = restriction_iter->second;
BOOST_FOREACH(const RestrictionTarget & restrictionTarget, _restrictionBucketVector.at(index)) { BOOST_FOREACH(
if(w == restrictionTarget.first) const RestrictionTarget & restriction_target,
m_restriction_bucket_list.at(index)
) {
if(w == restriction_target.first) {
return true; return true;
}
} }
} }
return false; return false;
} }
void EdgeBasedGraphFactory::InsertEdgeBasedNode( void EdgeBasedGraphFactory::InsertEdgeBasedNode(
_NodeBasedDynamicGraph::EdgeIterator e1, EdgeIterator e1,
_NodeBasedDynamicGraph::NodeIterator u, NodeIterator u,
_NodeBasedDynamicGraph::NodeIterator v, NodeIterator v,
bool belongsToTinyComponent) { bool belongsToTinyComponent) {
_NodeBasedDynamicGraph::EdgeData & data = _nodeBasedGraph->GetEdgeData(e1); EdgeData & data = m_node_based_graph->GetEdgeData(e1);
EdgeBasedNode currentNode; EdgeBasedNode currentNode;
currentNode.nameID = data.nameID; currentNode.nameID = data.nameID;
currentNode.lat1 = inputNodeInfoList[u].lat; currentNode.lat1 = m_node_info_list[u].lat;
currentNode.lon1 = inputNodeInfoList[u].lon; currentNode.lon1 = m_node_info_list[u].lon;
currentNode.lat2 = inputNodeInfoList[v].lat; currentNode.lat2 = m_node_info_list[v].lat;
currentNode.lon2 = inputNodeInfoList[v].lon; currentNode.lon2 = m_node_info_list[v].lon;
currentNode.belongsToTinyComponent = belongsToTinyComponent; currentNode.belongsToTinyComponent = belongsToTinyComponent;
currentNode.id = data.edgeBasedNodeID; currentNode.id = data.edgeBasedNodeID;
currentNode.ignoreInGrid = data.ignoreInGrid; currentNode.ignoreInGrid = data.ignoreInGrid;
currentNode.weight = data.distance; currentNode.weight = data.distance;
edgeBasedNodes.push_back(currentNode); m_edge_based_node_list.push_back(currentNode);
} }
void EdgeBasedGraphFactory::Run(const char * originalEdgeDataFilename, lua_State *myLuaState) { void EdgeBasedGraphFactory::Run(
Percent p(_nodeBasedGraph->GetNumberOfNodes()); const char * original_edge_data_filename,
int numberOfSkippedTurns(0); lua_State *lua_state
int nodeBasedEdgeCounter(0); ) {
unsigned numberOfOriginalEdges(0); SimpleLogger().Write() << "Identifying components of the road network";
std::ofstream originalEdgeDataOutFile(originalEdgeDataFilename, std::ios::binary);
originalEdgeDataOutFile.write((char*)&numberOfOriginalEdges, sizeof(unsigned));
Percent p(m_node_based_graph->GetNumberOfNodes());
unsigned skipped_turns_counter = 0;
unsigned node_based_edge_counter = 0;
unsigned original_edges_counter = 0;
SimpleLogger().Write() << "Identifying small components"; std::ofstream edge_data_file(
original_edge_data_filename,
std::ios::binary
);
//writes a dummy value that is updated later
edge_data_file.write(
(char*)&original_edges_counter,
sizeof(unsigned)
);
unsigned current_component = 0, current_component_size = 0;
//Run a BFS on the undirected graph and identify small components //Run a BFS on the undirected graph and identify small components
std::queue<std::pair<NodeID, NodeID> > bfsQueue; std::queue<std::pair<NodeID, NodeID> > bfs_queue;
std::vector<unsigned> componentsIndex(_nodeBasedGraph->GetNumberOfNodes(), UINT_MAX); std::vector<unsigned> component_index_list(
std::vector<NodeID> vectorOfComponentSizes; m_node_based_graph->GetNumberOfNodes(),
unsigned currentComponent = 0, sizeOfCurrentComponent = 0; UINT_MAX
);
std::vector<NodeID> component_size_list;
//put unexplorered node with parent pointer into queue //put unexplorered node with parent pointer into queue
for(NodeID node = 0, endNodes = _nodeBasedGraph->GetNumberOfNodes(); node < endNodes; ++node) { for(
if(UINT_MAX == componentsIndex[node]) { NodeID node = 0,
bfsQueue.push(std::make_pair(node, node)); last_node = m_node_based_graph->GetNumberOfNodes();
node < last_node;
++node
) {
if(UINT_MAX == component_index_list[node]) {
bfs_queue.push(std::make_pair(node, node));
//mark node as read //mark node as read
componentsIndex[node] = currentComponent; component_index_list[node] = current_component;
p.printIncrement(); p.printIncrement();
while(!bfsQueue.empty()) { while(!bfs_queue.empty()) {
//fetch element from BFS queue //fetch element from BFS queue
std::pair<NodeID, NodeID> currentQueueItem = bfsQueue.front(); std::pair<NodeID, NodeID> current_queue_item = bfs_queue.front();
bfsQueue.pop(); bfs_queue.pop();
// SimpleLogger().Write() << "sizeof queue: " << bfsQueue.size() << ", sizeOfCurrentComponents: " << sizeOfCurrentComponent << ", settled nodes: " << settledNodes++ << ", max: " << endNodes; // SimpleLogger().Write() << "sizeof queue: " << bfs_queue.size() <<
const NodeID v = currentQueueItem.first; //current node // ", current_component_sizes: " << current_component_size <<
const NodeID u = currentQueueItem.second; //parent //", settled nodes: " << settledNodes++ << ", max: " << endNodes;
const NodeID v = current_queue_item.first; //current node
const NodeID u = current_queue_item.second; //parent
//increment size counter of current component //increment size counter of current component
++sizeOfCurrentComponent; ++current_component_size;
const bool isBollardNode = (_barrierNodes.find(v) != _barrierNodes.end()); const bool is_barrier_node = (m_barrier_nodes.find(v) != m_barrier_nodes.end());
if(!isBollardNode) { if(!is_barrier_node) {
const NodeID onlyToNode = CheckForEmanatingIsOnlyTurn(u, v); const NodeID to_node_of_only_restriction = CheckForEmanatingIsOnlyTurn(u, v);
//relaxieren edge outgoing edge like below where edge-expanded graph //relaxieren edge outgoing edge like below where edge-expanded graph
for(_NodeBasedDynamicGraph::EdgeIterator e2 = _nodeBasedGraph->BeginEdges(v); e2 < _nodeBasedGraph->EndEdges(v); ++e2) { for(
_NodeBasedDynamicGraph::NodeIterator w = _nodeBasedGraph->GetTarget(e2); EdgeIterator e2 = m_node_based_graph->BeginEdges(v);
e2 < m_node_based_graph->EndEdges(v);
++e2
) {
NodeIterator w = m_node_based_graph->GetTarget(e2);
if(onlyToNode != UINT_MAX && w != onlyToNode) { //We are at an only_-restriction but not at the right turn. if(
to_node_of_only_restriction != UINT_MAX &&
w != to_node_of_only_restriction
) {
//We are at an only_-restriction but not at the right turn.
continue; continue;
} }
if( u != w ) { //only add an edge if turn is not a U-turn except it is the end of dead-end street. if( u != w ) {
if (!CheckIfTurnIsRestricted(u, v, w) ) { //only add an edge if turn is not prohibited //only add an edge if turn is not a U-turn except
//insert next (node, parent) only if w has not yet been explored //when it is at the end of a dead-end street.
if(UINT_MAX == componentsIndex[w]) { if (!CheckIfTurnIsRestricted(u, v, w) ) {
//only add an edge if turn is not prohibited
if(UINT_MAX == component_index_list[w]) {
//insert next (node, parent) only if w has
//not yet been explored
//mark node as read //mark node as read
componentsIndex[w] = currentComponent; component_index_list[w] = current_component;
bfsQueue.push(std::make_pair(w,v)); bfs_queue.push(std::make_pair(w,v));
p.printIncrement(); p.printIncrement();
} }
} }
@ -230,142 +284,206 @@ void EdgeBasedGraphFactory::Run(const char * originalEdgeDataFilename, lua_State
} }
} }
//push size into vector //push size into vector
vectorOfComponentSizes.push_back(sizeOfCurrentComponent); component_size_list.push_back(current_component_size);
//reset counters; //reset counters;
sizeOfCurrentComponent = 0; current_component_size = 0;
++currentComponent; ++current_component;
} }
} }
SimpleLogger().Write() << "identified: " << vectorOfComponentSizes.size() << " many components"; SimpleLogger().Write() <<
"identified: " << component_size_list.size() << " many components";
p.reinit(_nodeBasedGraph->GetNumberOfNodes()); p.reinit(m_node_based_graph->GetNumberOfNodes());
//loop over all edges and generate new set of nodes. //loop over all edges and generate new set of nodes.
for(_NodeBasedDynamicGraph::NodeIterator u = 0; u < _nodeBasedGraph->GetNumberOfNodes(); ++u ) { for(
for(_NodeBasedDynamicGraph::EdgeIterator e1 = _nodeBasedGraph->BeginEdges(u); e1 < _nodeBasedGraph->EndEdges(u); ++e1) { NodeIterator u = 0,
_NodeBasedDynamicGraph::NodeIterator v = _nodeBasedGraph->GetTarget(e1); number_of_nodes = m_node_based_graph->GetNumberOfNodes();
u < number_of_nodes;
++u
) {
for(
EdgeIterator e1 = m_node_based_graph->BeginEdges(u),
last_edge = m_node_based_graph->EndEdges(u);
e1 < last_edge;
++e1
) {
NodeIterator v = m_node_based_graph->GetTarget(e1);
if(_nodeBasedGraph->GetEdgeData(e1).type != SHRT_MAX) { if(m_node_based_graph->GetEdgeData(e1).type != SHRT_MAX) {
assert(e1 != UINT_MAX); BOOST_ASSERT_MSG(e1 != UINT_MAX, "edge id invalid");
assert(u != UINT_MAX); BOOST_ASSERT_MSG(u != UINT_MAX, "souce node invalid");
assert(v != UINT_MAX); BOOST_ASSERT_MSG(v != UINT_MAX, "target node invalid");
//edges that end on bollard nodes may actually be in two distinct components //Note: edges that end on barrier nodes or on a turn restriction
InsertEdgeBasedNode(e1, u, v, (std::min(vectorOfComponentSizes[componentsIndex[u]], vectorOfComponentSizes[componentsIndex[v]]) < 1000) ); //may actually be in two distinct components. We choose the smallest
const unsigned size_of_component = std::min(
component_size_list[component_index_list[u]],
component_size_list[component_index_list[v]]
);
InsertEdgeBasedNode( e1, u, v, size_of_component < 1000 );
} }
} }
} }
std::vector<NodeID>().swap(vectorOfComponentSizes); std::vector<NodeID>().swap(component_size_list);
std::vector<NodeID>().swap(componentsIndex); BOOST_ASSERT_MSG(
0 == component_size_list.capacity(),
"component size vector not deallocated"
);
std::vector<NodeID>().swap(component_index_list);
BOOST_ASSERT_MSG(
0 == component_index_list.capacity(),
"component index vector not deallocated"
);
std::vector<OriginalEdgeData> original_edge_data_vector; std::vector<OriginalEdgeData> original_edge_data_vector;
original_edge_data_vector.reserve(10000); original_edge_data_vector.reserve(10000);
//Loop over all turns and generate new set of edges. //Loop over all turns and generate new set of edges.
//Three nested loop look super-linear, but we are dealing with a linear number of turns only. //Three nested loop look super-linear, but we are dealing with a (kind of)
for(_NodeBasedDynamicGraph::NodeIterator u = 0; u < _nodeBasedGraph->GetNumberOfNodes(); ++u ) { //linear number of turns only.
for(_NodeBasedDynamicGraph::EdgeIterator e1 = _nodeBasedGraph->BeginEdges(u); e1 < _nodeBasedGraph->EndEdges(u); ++e1) { for(
++nodeBasedEdgeCounter; NodeIterator u = 0,
_NodeBasedDynamicGraph::NodeIterator v = _nodeBasedGraph->GetTarget(e1); last_node = m_node_based_graph->GetNumberOfNodes();
bool isBollardNode = (_barrierNodes.find(v) != _barrierNodes.end()); u < last_node;
//EdgeWeight heightPenalty = ComputeHeightPenalty(u, v); ++u
NodeID onlyToNode = CheckForEmanatingIsOnlyTurn(u, v); ) {
for(_NodeBasedDynamicGraph::EdgeIterator e2 = _nodeBasedGraph->BeginEdges(v); e2 < _nodeBasedGraph->EndEdges(v); ++e2) { for(
const _NodeBasedDynamicGraph::NodeIterator w = _nodeBasedGraph->GetTarget(e2); EdgeIterator e1 = m_node_based_graph->BeginEdges(u),
last_edge_u = m_node_based_graph->EndEdges(u);
if(onlyToNode != UINT_MAX && w != onlyToNode) { //We are at an only_-restriction but not at the right turn. e1 < last_edge_u;
++numberOfSkippedTurns; ++e1
) {
++node_based_edge_counter;
NodeIterator v = m_node_based_graph->GetTarget(e1);
bool is_barrier_node = (m_barrier_nodes.find(v) != m_barrier_nodes.end());
NodeID to_node_of_only_restriction = CheckForEmanatingIsOnlyTurn(u, v);
for(
EdgeIterator e2 = m_node_based_graph->BeginEdges(v),
last_edge_v = m_node_based_graph->EndEdges(v);
e2 < last_edge_v;
++e2
) {
const NodeIterator w = m_node_based_graph->GetTarget(e2);
if(
to_node_of_only_restriction != UINT_MAX &&
w != to_node_of_only_restriction
) {
//We are at an only_-restriction but not at the right turn.
++skipped_turns_counter;
continue; continue;
} }
if(u == w && 1 != _nodeBasedGraph->GetOutDegree(v) ) { if(u == w && 1 != m_node_based_graph->GetOutDegree(v) ) {
continue; continue;
} }
if( !isBollardNode ) { //only add an edge if turn is not a U-turn except it is the end of dead-end street. if( !is_barrier_node ) {
if (!CheckIfTurnIsRestricted(u, v, w) || (onlyToNode != UINT_MAX && w == onlyToNode)) { //only add an edge if turn is not prohibited //only add an edge if turn is not a U-turn except when it is
const _NodeBasedDynamicGraph::EdgeData edgeData1 = _nodeBasedGraph->GetEdgeData(e1); //at the end of a dead-end street
const _NodeBasedDynamicGraph::EdgeData edgeData2 = _nodeBasedGraph->GetEdgeData(e2); if (
assert(edgeData1.edgeBasedNodeID < _nodeBasedGraph->GetNumberOfEdges()); !CheckIfTurnIsRestricted(u, v, w) ||
assert(edgeData2.edgeBasedNodeID < _nodeBasedGraph->GetNumberOfEdges()); (to_node_of_only_restriction != UINT_MAX && w == to_node_of_only_restriction)
) { //only add an edge if turn is not prohibited
const EdgeData edge_data1 = m_node_based_graph->GetEdgeData(e1);
const EdgeData edge_data2 = m_node_based_graph->GetEdgeData(e2);
assert(edge_data1.edgeBasedNodeID < m_node_based_graph->GetNumberOfEdges());
assert(edge_data2.edgeBasedNodeID < m_node_based_graph->GetNumberOfEdges());
if(!edgeData1.forward || !edgeData2.forward) { if(!edge_data1.forward || !edge_data2.forward) {
continue; continue;
} }
unsigned distance = edgeData1.distance; unsigned distance = edge_data1.distance;
if(_trafficLights.find(v) != _trafficLights.end()) { if(m_traffic_lights.find(v) != m_traffic_lights.end()) {
distance += speedProfile.trafficSignalPenalty; distance += speed_profile.trafficSignalPenalty;
} }
unsigned penalty = GetTurnPenalty(u, v, w, myLuaState); const unsigned penalty =
GetTurnPenalty(u, v, w, lua_state);
TurnInstruction turnInstruction = AnalyzeTurn(u, v, w); TurnInstruction turnInstruction = AnalyzeTurn(u, v, w);
if(turnInstruction == TurnInstructions.UTurn) if(turnInstruction == TurnInstructions.UTurn){
distance += speedProfile.uTurnPenalty; distance += speed_profile.uTurnPenalty;
// if(!edgeData1.isAccessRestricted && edgeData2.isAccessRestricted) { }
// distance += TurnInstructions.AccessRestrictionPenalty;
// turnInstruction |= TurnInstructions.AccessRestrictionFlag;
// }
distance += penalty; distance += penalty;
//distance += heightPenalty; //distance += heightPenalty;
//distance += ComputeTurnPenalty(u, v, w); //distance += ComputeTurnPenalty(u, v, w);
assert(edgeData1.edgeBasedNodeID != edgeData2.edgeBasedNodeID); assert(edge_data1.edgeBasedNodeID != edge_data2.edgeBasedNodeID);
OriginalEdgeData oed(v,edgeData2.nameID, turnInstruction); original_edge_data_vector.push_back(
original_edge_data_vector.push_back(oed); OriginalEdgeData(
++numberOfOriginalEdges; v,
edge_data2.nameID,
turnInstruction
)
);
++original_edges_counter;
if(original_edge_data_vector.size() > 100000) { if(original_edge_data_vector.size() > 100000) {
originalEdgeDataOutFile.write((char*)&(original_edge_data_vector[0]), original_edge_data_vector.size()*sizeof(OriginalEdgeData)); edge_data_file.write(
(char*)&(original_edge_data_vector[0]),
original_edge_data_vector.size()*sizeof(OriginalEdgeData)
);
original_edge_data_vector.clear(); original_edge_data_vector.clear();
} }
EdgeBasedEdge newEdge(edgeData1.edgeBasedNodeID, edgeData2.edgeBasedNodeID, edgeBasedEdges.size(), distance, true, false ); m_edge_based_edge_list.push_back(
edgeBasedEdges.push_back(newEdge); EdgeBasedEdge(
edge_data1.edgeBasedNodeID,
edge_data2.edgeBasedNodeID,
m_edge_based_edge_list.size(),
distance,
true,
false
)
);
} else { } else {
++numberOfSkippedTurns; ++skipped_turns_counter;
} }
} }
} }
} }
p.printIncrement(); p.printIncrement();
} }
originalEdgeDataOutFile.write((char*)&(original_edge_data_vector[0]), original_edge_data_vector.size()*sizeof(OriginalEdgeData)); edge_data_file.write(
originalEdgeDataOutFile.seekp(std::ios::beg); (char*)&(original_edge_data_vector[0]),
originalEdgeDataOutFile.write((char*)&numberOfOriginalEdges, sizeof(unsigned)); original_edge_data_vector.size()*sizeof(OriginalEdgeData)
originalEdgeDataOutFile.close(); );
edge_data_file.seekp(std::ios::beg);
edge_data_file.write(
(char*)&original_edges_counter,
sizeof(unsigned)
);
edge_data_file.close();
// SimpleLogger().Write() <<"Sorting edge-based Nodes"; SimpleLogger().Write() <<
// std::sort(edgeBasedNodes.begin(), edgeBasedNodes.end(); "Generated " << m_edge_based_node_list.size() << " edge based nodes";
// SimpleLogger().Write() <<"Removing duplicate nodes (if any)"; SimpleLogger().Write() <<
// edgeBasedNodes.erase( std::unique(edgeBasedNodes.begin(), edgeBasedNodes.end()), edgeBasedNodes.end() ); "Node-based graph contains " << node_based_edge_counter << " edges";
// SimpleLogger().Write() <<"Applying vector self-swap trick to free up memory"; SimpleLogger().Write() <<
// SimpleLogger().Write() <<"size: " << edgeBasedNodes.size() << ", cap: " << edgeBasedNodes.capacity(); "Edge-expanded graph ...";
// std::vector<EdgeBasedNode>(edgeBasedNodes).swap(edgeBasedNodes); SimpleLogger().Write() <<
// SimpleLogger().Write() <<"size: " << edgeBasedNodes.size() << ", cap: " << edgeBasedNodes.capacity(); " contains " << m_edge_based_edge_list.size() << " edges";
SimpleLogger().Write() <<"Node-based graph contains " << nodeBasedEdgeCounter << " edges"; SimpleLogger().Write() <<
SimpleLogger().Write() <<"Edge-based graph contains " << edgeBasedEdges.size() << " edges"; " skips " << skipped_turns_counter << " turns, "
// SimpleLogger().Write() << "Edge-based graph contains " << edgeBasedEdges.size() << " edges, blowup is " << 2*((double)edgeBasedEdges.size()/(double)nodeBasedEdgeCounter; "defined by " << m_turn_restrictions_count << " restrictions";
SimpleLogger().Write() <<"Edge-based graph skipped " << numberOfSkippedTurns << " turns, defined by " << numberOfTurnRestrictions << " restrictions.";
SimpleLogger().Write() <<"Generated " << edgeBasedNodes.size() << " edge based nodes";
} }
int EdgeBasedGraphFactory::GetTurnPenalty( int EdgeBasedGraphFactory::GetTurnPenalty(
const NodeID u, const NodeID u,
const NodeID v, const NodeID v,
const NodeID w, const NodeID w,
lua_State *myLuaState lua_State *lua_state
) const { ) const {
const double angle = GetAngleBetweenTwoEdges( const double angle = GetAngleBetweenThreeFixedPointCoordinates (
inputNodeInfoList[u], m_node_info_list[u],
inputNodeInfoList[v], m_node_info_list[v],
inputNodeInfoList[w] m_node_info_list[w]
); );
if( speedProfile.has_turn_penalty_function ) { if( speed_profile.has_turn_penalty_function ) {
try { try {
//call lua profile to compute turn penalty //call lua profile to compute turn penalty
return luabind::call_function<int>( return luabind::call_function<int>(
myLuaState, lua_state,
"turn_function", "turn_function",
180.-angle 180.-angle
); );
@ -381,17 +499,15 @@ TurnInstruction EdgeBasedGraphFactory::AnalyzeTurn(
const NodeID v, const NodeID v,
const NodeID w const NodeID w
) const { ) const {
const double angle = GetAngleBetweenTwoEdges(inputNodeInfoList[u], inputNodeInfoList[v], inputNodeInfoList[w]);
if(u == w) { if(u == w) {
return TurnInstructions.UTurn; return TurnInstructions.UTurn;
} }
_NodeBasedDynamicGraph::EdgeIterator edge1 = _nodeBasedGraph->FindEdge(u, v); EdgeIterator edge1 = m_node_based_graph->FindEdge(u, v);
_NodeBasedDynamicGraph::EdgeIterator edge2 = _nodeBasedGraph->FindEdge(v, w); EdgeIterator edge2 = m_node_based_graph->FindEdge(v, w);
_NodeBasedDynamicGraph::EdgeData & data1 = _nodeBasedGraph->GetEdgeData(edge1); EdgeData & data1 = m_node_based_graph->GetEdgeData(edge1);
_NodeBasedDynamicGraph::EdgeData & data2 = _nodeBasedGraph->GetEdgeData(edge2); EdgeData & data2 = m_node_based_graph->GetEdgeData(edge2);
if(!data1.contraFlow && data2.contraFlow) { if(!data1.contraFlow && data2.contraFlow) {
return TurnInstructions.EnterAgainstAllowedDirection; return TurnInstructions.EnterAgainstAllowedDirection;
@ -403,7 +519,7 @@ TurnInstruction EdgeBasedGraphFactory::AnalyzeTurn(
//roundabouts need to be handled explicitely //roundabouts need to be handled explicitely
if(data1.roundabout && data2.roundabout) { if(data1.roundabout && data2.roundabout) {
//Is a turn possible? If yes, we stay on the roundabout! //Is a turn possible? If yes, we stay on the roundabout!
if( 1 == (_nodeBasedGraph->EndEdges(v) - _nodeBasedGraph->BeginEdges(v)) ) { if( 1 == m_node_based_graph->GetOutDegree(v) ) {
//No turn possible. //No turn possible.
return TurnInstructions.NoTurn; return TurnInstructions.NoTurn;
} }
@ -421,31 +537,28 @@ TurnInstruction EdgeBasedGraphFactory::AnalyzeTurn(
} }
} }
//If street names stay the same and if we are certain that it is not a roundabout, we skip it. //If street names stay the same and if we are certain that it is not a
if( (data1.nameID == data2.nameID) && (0 != data1.nameID)) { //a segment of a roundabout, we skip it.
return TurnInstructions.NoTurn; if( data1.nameID == data2.nameID ) {
} //TODO: Here we should also do a small graph exploration to check for
if( (data1.nameID == data2.nameID) && (0 == data1.nameID) && (_nodeBasedGraph->GetOutDegree(v) <= 2) ) { // more complex situations
return TurnInstructions.NoTurn; if( 0 != data1.nameID ) {
return TurnInstructions.NoTurn;
} else if (m_node_based_graph->GetOutDegree(v) <= 2) {
return TurnInstructions.NoTurn;
}
} }
const double angle = GetAngleBetweenThreeFixedPointCoordinates (
m_node_info_list[u],
m_node_info_list[v],
m_node_info_list[w]
);
return TurnInstructions.GetTurnDirectionOfInstruction(angle); return TurnInstructions.GetTurnDirectionOfInstruction(angle);
} }
unsigned EdgeBasedGraphFactory::GetNumberOfNodes() const { unsigned EdgeBasedGraphFactory::GetNumberOfNodes() const {
return _nodeBasedGraph->GetNumberOfEdges(); return m_node_based_graph->GetNumberOfEdges();
} }
/* Get angle of line segment (A,C)->(C,B), atan2 magic, formerly cosine theorem*/
template<class CoordinateT>
double EdgeBasedGraphFactory::GetAngleBetweenTwoEdges(const CoordinateT& A, const CoordinateT& C, const CoordinateT& B) const {
const double v1x = (A.lon - C.lon)/COORDINATE_PRECISION;
const double v1y = lat2y(A.lat/COORDINATE_PRECISION) - lat2y(C.lat/COORDINATE_PRECISION);
const double v2x = (B.lon - C.lon)/COORDINATE_PRECISION;
const double v2y = lat2y(B.lat/COORDINATE_PRECISION) - lat2y(C.lat/COORDINATE_PRECISION);
double angle = (atan2(v2y,v2x) - atan2(v1y,v1x) )*180/M_PI;
while(angle < 0)
angle += 360;
return angle;
}

108
Contractor/EdgeBasedGraphFactory.h
View File

@ -18,9 +18,7 @@
or see http://www.gnu.org/licenses/agpl.txt. or see http://www.gnu.org/licenses/agpl.txt.
*/ */
/* // This class constructs the edge-expanded routing graph
* This class constructs the edge base representation of a graph from a given node based edge list
*/
#ifndef EDGEBASEDGRAPHFACTORY_H_ #ifndef EDGEBASEDGRAPHFACTORY_H_
#define EDGEBASEDGRAPHFACTORY_H_ #define EDGEBASEDGRAPHFACTORY_H_
@ -31,15 +29,12 @@
#include "../Extractor/ExtractorStructs.h" #include "../Extractor/ExtractorStructs.h"
#include "../DataStructures/HashTable.h" #include "../DataStructures/HashTable.h"
#include "../DataStructures/ImportEdge.h" #include "../DataStructures/ImportEdge.h"
#include "../DataStructures/MercatorUtil.h"
#include "../DataStructures/QueryEdge.h" #include "../DataStructures/QueryEdge.h"
#include "../DataStructures/Percent.h" #include "../DataStructures/Percent.h"
#include "../DataStructures/TurnInstructions.h" #include "../DataStructures/TurnInstructions.h"
#include "../Util/LuaUtil.h" #include "../Util/LuaUtil.h"
#include "../Util/SimpleLogger.h" #include "../Util/SimpleLogger.h"
#include <stxxl.h>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>
#include <boost/noncopyable.hpp> #include <boost/noncopyable.hpp>
@ -47,9 +42,8 @@
#include <boost/unordered_map.hpp> #include <boost/unordered_map.hpp>
#include <boost/unordered_set.hpp> #include <boost/unordered_set.hpp>
#include <cstdlib>
#include <algorithm> #include <algorithm>
#include <fstream>
#include <queue> #include <queue>
#include <vector> #include <vector>
@ -67,6 +61,7 @@ public:
weight(UINT_MAX >> 1), weight(UINT_MAX >> 1),
ignoreInGrid(false) ignoreInGrid(false)
{ } { }
bool operator<(const EdgeBasedNode & other) const { bool operator<(const EdgeBasedNode & other) const {
return other.id < id; return other.id < id;
} }
@ -100,33 +95,47 @@ public:
}; };
struct SpeedProfileProperties{ struct SpeedProfileProperties{
SpeedProfileProperties() : trafficSignalPenalty(0), uTurnPenalty(0), has_turn_penalty_function(false) {} SpeedProfileProperties() :
trafficSignalPenalty(0),
uTurnPenalty(0),
has_turn_penalty_function(false)
{ }
int trafficSignalPenalty; int trafficSignalPenalty;
int uTurnPenalty; int uTurnPenalty;
bool has_turn_penalty_function; bool has_turn_penalty_function;
} speedProfile; } speed_profile;
explicit EdgeBasedGraphFactory( explicit EdgeBasedGraphFactory(
int nodes, int number_of_nodes,
std::vector<ImportEdge> & inputEdges, std::vector<ImportEdge> & input_edge_list,
std::vector<NodeID> & _bollardNodes, std::vector<NodeID> & barrier_node_list,
std::vector<NodeID> & trafficLights, std::vector<NodeID> & traffic_light_node_list,
std::vector<TurnRestriction> & inputRestrictions, std::vector<TurnRestriction> & input_restrictions_list,
std::vector<NodeInfo> & nI, std::vector<NodeInfo> & m_node_info_list,
SpeedProfileProperties speedProfile SpeedProfileProperties speed_profile
); );
void Run(const char * originalEdgeDataFilename, lua_State *myLuaState); void Run(const char * originalEdgeDataFilename, lua_State *myLuaState);
void GetEdgeBasedEdges( DeallocatingVector< EdgeBasedEdge >& edges ); void GetEdgeBasedEdges( DeallocatingVector< EdgeBasedEdge >& edges );
void GetEdgeBasedNodes( std::vector< EdgeBasedNode> & nodes); void GetEdgeBasedNodes( std::vector< EdgeBasedNode> & nodes);
void GetOriginalEdgeData( std::vector< OriginalEdgeData> & originalEdgeData); void GetOriginalEdgeData( std::vector<OriginalEdgeData> & originalEdgeData);
TurnInstruction AnalyzeTurn(const NodeID u, const NodeID v, const NodeID w) const; TurnInstruction AnalyzeTurn(
int GetTurnPenalty(const NodeID u, const NodeID v, const NodeID w, lua_State *myLuaState) const; const NodeID u,
const NodeID v,
const NodeID w
) const;
int GetTurnPenalty(
const NodeID u,
const NodeID v,
const NodeID w,
lua_State *myLuaState
) const;
unsigned GetNumberOfNodes() const; unsigned GetNumberOfNodes() const;
private: private:
struct _NodeBasedEdgeData { struct NodeBasedEdgeData {
int distance; int distance;
unsigned edgeBasedNodeID; unsigned edgeBasedNodeID;
unsigned nameID; unsigned nameID;
@ -151,35 +160,44 @@ private:
unsigned m_turn_restrictions_count; unsigned m_turn_restrictions_count;
typedef DynamicGraph< _NodeBasedEdgeData > _NodeBasedDynamicGraph; typedef DynamicGraph<NodeBasedEdgeData> NodeBasedDynamicGraph;
typedef _NodeBasedDynamicGraph::InputEdge _NodeBasedEdge; typedef NodeBasedDynamicGraph::InputEdge NodeBasedEdge;
std::vector<NodeInfo> inputNodeInfoList; typedef NodeBasedDynamicGraph::NodeIterator NodeIterator;
unsigned numberOfTurnRestrictions; typedef NodeBasedDynamicGraph::EdgeIterator EdgeIterator;
typedef NodeBasedDynamicGraph::EdgeData EdgeData;
boost::shared_ptr<_NodeBasedDynamicGraph> _nodeBasedGraph; typedef std::pair<NodeID, NodeID> RestrictionSource;
boost::unordered_set<NodeID> _barrierNodes; typedef std::pair<NodeID, bool> RestrictionTarget;
boost::unordered_set<NodeID> _trafficLights; typedef std::vector<RestrictionTarget> EmanatingRestrictionsVector;
typedef std::pair<NodeID, NodeID> RestrictionSource;
typedef std::pair<NodeID, bool> RestrictionTarget;
typedef std::vector<RestrictionTarget> EmanatingRestrictionsVector;
typedef boost::unordered_map<RestrictionSource, unsigned > RestrictionMap; typedef boost::unordered_map<RestrictionSource, unsigned > RestrictionMap;
std::vector<EmanatingRestrictionsVector> _restrictionBucketVector;
RestrictionMap _restrictionMap;
DeallocatingVector<EdgeBasedEdge> edgeBasedEdges; std::vector<NodeInfo> m_node_info_list;
std::vector<EdgeBasedNode> edgeBasedNodes; std::vector<EmanatingRestrictionsVector> m_restriction_bucket_list;
std::vector<EdgeBasedNode> m_edge_based_node_list;
DeallocatingVector<EdgeBasedEdge> m_edge_based_edge_list;
boost::shared_ptr<NodeBasedDynamicGraph> m_node_based_graph;
boost::unordered_set<NodeID> m_barrier_nodes;
boost::unordered_set<NodeID> m_traffic_lights;
RestrictionMap m_restriction_map;
NodeID CheckForEmanatingIsOnlyTurn(
const NodeID u,
const NodeID v
) const;
bool CheckIfTurnIsRestricted(
const NodeID u,
const NodeID v,
const NodeID w
) const;
NodeID CheckForEmanatingIsOnlyTurn(const NodeID u, const NodeID v) const;
bool CheckIfTurnIsRestricted(const NodeID u, const NodeID v, const NodeID w) const;
void InsertEdgeBasedNode( void InsertEdgeBasedNode(
_NodeBasedDynamicGraph::EdgeIterator e1, NodeBasedDynamicGraph::EdgeIterator e1,
_NodeBasedDynamicGraph::NodeIterator u, NodeBasedDynamicGraph::NodeIterator u,
_NodeBasedDynamicGraph::NodeIterator v, NodeBasedDynamicGraph::NodeIterator v,
bool belongsToTinyComponent); bool belongsToTinyComponent);
template<class CoordinateT>
double GetAngleBetweenTwoEdges(const CoordinateT& A, const CoordinateT& C, const CoordinateT& B) const;
}; };
#endif /* EDGEBASEDGRAPHFACTORY_H_ */ #endif /* EDGEBASEDGRAPHFACTORY_H_ */

21
DataStructures/Coordinate.h
View File

@ -21,6 +21,7 @@ or see http://www.gnu.org/licenses/agpl.txt.
#ifndef FIXED_POINT_COORDINATE_H_ #ifndef FIXED_POINT_COORDINATE_H_
#define FIXED_POINT_COORDINATE_H_ #define FIXED_POINT_COORDINATE_H_
#include "../DataStructures/MercatorUtil.h"
#include "../Util/StringUtil.h" #include "../Util/StringUtil.h"
#include <cassert> #include <cassert>
@ -35,7 +36,7 @@ struct FixedPointCoordinate {
int lat; int lat;
int lon; int lon;
FixedPointCoordinate () : lat(INT_MIN), lon(INT_MIN) {} FixedPointCoordinate () : lat(INT_MIN), lon(INT_MIN) {}
explicit FixedPointCoordinate (int t, int n) : lat(t) , lon(n) {} explicit FixedPointCoordinate (int lat, int lon) : lat(lat) , lon(lon) {}
void Reset() { void Reset() {
lat = INT_MIN; lat = INT_MIN;
@ -141,4 +142,22 @@ static inline void convertInternalReversedCoordinateToString(const FixedPointCoo
output += " "; output += " ";
} }
/* Get angle of line segment (A,C)->(C,B), atan2 magic, formerly cosine theorem*/
template<class CoordinateT>
static inline double GetAngleBetweenThreeFixedPointCoordinates (
const CoordinateT & A,
const CoordinateT & C,
const CoordinateT & B
) {
const double v1x = (A.lon - C.lon)/COORDINATE_PRECISION;
const double v1y = lat2y(A.lat/COORDINATE_PRECISION) - lat2y(C.lat/COORDINATE_PRECISION);
const double v2x = (B.lon - C.lon)/COORDINATE_PRECISION;
const double v2y = lat2y(B.lat/COORDINATE_PRECISION) - lat2y(C.lat/COORDINATE_PRECISION);
double angle = (atan2(v2y,v2x) - atan2(v1y,v1x) )*180/M_PI;
while(angle < 0)
angle += 360;
return angle;
}
#endif /* FIXED_POINT_COORDINATE_H_ */ #endif /* FIXED_POINT_COORDINATE_H_ */

2
DataStructures/QueryEdge.h
View File

@ -18,8 +18,6 @@ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
or see http://www.gnu.org/licenses/agpl.txt. or see http://www.gnu.org/licenses/agpl.txt.
*/ */
#ifndef QUERYEDGE_H_ #ifndef QUERYEDGE_H_
#define QUERYEDGE_H_ #define QUERYEDGE_H_