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This commit is contained in:
xlaussel
2020-11-23 22:33:08 +01:00
parent a3f1c2afb0
commit 13067844ee
7 changed files with 216 additions and 145 deletions
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include/engine/routing_algorithms/routing_base_ch.hpp
+22 -18
View File
@@ -36,9 +36,10 @@ bool stallAtNode(const DataFacade<Algorithm> &facade,
const NodeID to = facade.GetTarget(edge);
const EdgeWeight edge_weight = data.weight;
BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
if (query_heap.WasInserted(to))
const auto& toHeapNode= query_heap.WasInsertedGetHeapNode(to);
if (toHeapNode)
{
if (query_heap.GetKey(to) + edge_weight < weight)
if (toHeapNode->weight + edge_weight < weight)
{
return true;
}
@@ -65,17 +66,19 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
const EdgeWeight to_weight = weight + edge_weight;
auto toData= heap.WasInsertedGetHeapNode(to);
// New Node discovered -> Add to Heap + Node Info Storage
if (!heap.WasInserted(to))
if (!toData)
{
heap.Insert(to, to_weight, node);
}
// Found a shorter Path -> Update weight
else if (to_weight < heap.GetKey(to))
else if (to_weight < toData->weight)
{
// new parent
heap.GetData(to).parent = node;
heap.DecreaseKey(to, to_weight);
toData->data.parent = node;
toData->weight=to_weight;
heap.DecreaseKey(*toData);
}
}
}
@@ -122,35 +125,36 @@ void routingStep(const DataFacade<Algorithm> &facade,
const bool force_loop_forward,
const bool force_loop_reverse)
{
const NodeID node = forward_heap.DeleteMin();
const EdgeWeight weight = forward_heap.GetKey(node);
auto nodeData = forward_heap.DeleteMinGetHeapNode();
const EdgeWeight weight = nodeData.weight;
if (reverse_heap.WasInserted(node))
auto reverseNodeData= reverse_heap.WasInsertedGetHeapNode(nodeData.node);
if (reverseNodeData)
{
const EdgeWeight new_weight = reverse_heap.GetKey(node) + weight;
const EdgeWeight new_weight = reverseNodeData->weight + weight;
if (new_weight < upper_bound)
{
// if loops are forced, they are so at the source
if ((force_loop_forward && forward_heap.GetData(node).parent == node) ||
(force_loop_reverse && reverse_heap.GetData(node).parent == node) ||
if ((force_loop_forward && nodeData.data.parent == nodeData.node) ||
(force_loop_reverse && reverseNodeData->data.parent == nodeData.node) ||
// in this case we are looking at a bi-directional way where the source
// and target phantom are on the same edge based node
new_weight < 0)
{
// check whether there is a loop present at the node
for (const auto edge : facade.GetAdjacentEdgeRange(node))
for (const auto edge : facade.GetAdjacentEdgeRange(nodeData.node))
{
const auto &data = facade.GetEdgeData(edge);
if (DIRECTION == FORWARD_DIRECTION ? data.forward : data.backward)
{
const NodeID to = facade.GetTarget(edge);
if (to == node)
if (to == nodeData.node)
{
const EdgeWeight edge_weight = data.weight;
const EdgeWeight loop_weight = new_weight + edge_weight;
if (loop_weight >= 0 && loop_weight < upper_bound)
{
middle_node_id = node;
middle_node_id = nodeData.node;
upper_bound = loop_weight;
}
}
@@ -161,7 +165,7 @@ void routingStep(const DataFacade<Algorithm> &facade,
{
BOOST_ASSERT(new_weight >= 0);
middle_node_id = node;
middle_node_id = nodeData.node;
upper_bound = new_weight;
}
}
@@ -177,12 +181,12 @@ void routingStep(const DataFacade<Algorithm> &facade,
}
// Stalling
if (STALLING && stallAtNode<DIRECTION>(facade, node, weight, forward_heap))
if (STALLING && stallAtNode<DIRECTION>(facade, nodeData.node, weight, forward_heap))
{
return;
}
relaxOutgoingEdges<DIRECTION>(facade, node, weight, forward_heap);
relaxOutgoingEdges<DIRECTION>(facade, nodeData.node, weight, forward_heap);
}
template <bool UseDuration>
include/engine/routing_algorithms/routing_base_mld.hpp
+39 -32
View File
@@ -229,7 +229,7 @@ retrievePackedPathFromHeap(const SearchEngineData<Algorithm>::QueryHeap &forward
template <bool DIRECTION, typename Algorithm, typename... Args>
void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
typename SearchEngineData<Algorithm>::QueryHeap &forward_heap,
const NodeID node,
const typename SearchEngineData<Algorithm>::QueryHeap::HeapNode& heapNode,
const EdgeWeight weight,
Args... args)
{
@@ -237,32 +237,34 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
const auto &cells = facade.GetCellStorage();
const auto &metric = facade.GetCellMetric();
const auto level = getNodeQueryLevel(partition, node, args...);
const auto level = getNodeQueryLevel(partition, heapNode.node, args...);
if (level >= 1 && !forward_heap.GetData(node).from_clique_arc)
if (level >= 1 && !heapNode.data.from_clique_arc)
{
if (DIRECTION == FORWARD_DIRECTION)
{
// Shortcuts in forward direction
const auto &cell = cells.GetCell(metric, level, partition.GetCell(level, node));
const auto &cell = cells.GetCell(metric, level, partition.GetCell(level, heapNode.node));
auto destination = cell.GetDestinationNodes().begin();
for (auto shortcut_weight : cell.GetOutWeight(node))
for (auto shortcut_weight : cell.GetOutWeight(heapNode.node))
{
BOOST_ASSERT(destination != cell.GetDestinationNodes().end());
const NodeID to = *destination;
if (shortcut_weight != INVALID_EDGE_WEIGHT && node != to)
if (shortcut_weight != INVALID_EDGE_WEIGHT && heapNode.node != to)
{
const EdgeWeight to_weight = weight + shortcut_weight;
BOOST_ASSERT(to_weight >= weight);
if (!forward_heap.WasInserted(to))
auto toNodeData= forward_heap.WasInsertedGetHeapNode(to);
if (!toNodeData)
{
forward_heap.Insert(to, to_weight, {node, true});
forward_heap.Insert(to, to_weight, {heapNode.node, true});
}
else if (to_weight < forward_heap.GetKey(to))
{
forward_heap.GetData(to) = {node, true};
forward_heap.DecreaseKey(to, to_weight);
toNodeData->data = {heapNode.node, true};
toNodeData->weight=to_weight;
forward_heap.DecreaseKey(*toNodeData);
}
}
++destination;
@@ -271,25 +273,27 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
else
{
// Shortcuts in backward direction
const auto &cell = cells.GetCell(metric, level, partition.GetCell(level, node));
const auto &cell = cells.GetCell(metric, level, partition.GetCell(level, heapNode.node));
auto source = cell.GetSourceNodes().begin();
for (auto shortcut_weight : cell.GetInWeight(node))
for (auto shortcut_weight : cell.GetInWeight(heapNode.node))
{
BOOST_ASSERT(source != cell.GetSourceNodes().end());
const NodeID to = *source;
if (shortcut_weight != INVALID_EDGE_WEIGHT && node != to)
if (shortcut_weight != INVALID_EDGE_WEIGHT && heapNode.node != to)
{
const EdgeWeight to_weight = weight + shortcut_weight;
BOOST_ASSERT(to_weight >= weight);
if (!forward_heap.WasInserted(to))
auto toNodeData= forward_heap.WasInsertedGetHeapNode(to);
if (!toNodeData)
{
forward_heap.Insert(to, to_weight, {node, true});
forward_heap.Insert(to, to_weight, {heapNode.node, true});
}
else if (to_weight < forward_heap.GetKey(to))
{
forward_heap.GetData(to) = {node, true};
forward_heap.DecreaseKey(to, to_weight);
toNodeData->data = {heapNode.node, true};
toNodeData->weight=to_weight;
forward_heap.DecreaseKey(*toNodeData);
}
}
++source;
@@ -298,7 +302,7 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
}
// Boundary edges
for (const auto edge : facade.GetBorderEdgeRange(level, node))
for (const auto edge : facade.GetBorderEdgeRange(level, heapNode.node))
{
const auto &edge_data = facade.GetEdgeData(edge);
@@ -311,21 +315,23 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
checkParentCellRestriction(partition.GetCell(level + 1, to), args...))
{
const auto node_weight =
facade.GetNodeWeight(DIRECTION == FORWARD_DIRECTION ? node : to);
facade.GetNodeWeight(DIRECTION == FORWARD_DIRECTION ? heapNode.node : to);
const auto turn_penalty = facade.GetWeightPenaltyForEdgeID(edge_data.turn_id);
// TODO: BOOST_ASSERT(edge_data.weight == node_weight + turn_penalty);
const EdgeWeight to_weight = weight + node_weight + turn_penalty;
if (!forward_heap.WasInserted(to))
auto toNodeData= forward_heap.WasInsertedGetHeapNode(to);
if (!toNodeData)
{
forward_heap.Insert(to, to_weight, {node, false});
forward_heap.Insert(to, to_weight, {heapNode.node, false});
}
else if (to_weight < forward_heap.GetKey(to))
{
forward_heap.GetData(to) = {node, false};
forward_heap.DecreaseKey(to, to_weight);
toNodeData->data = {heapNode.node, false};
toNodeData->weight=to_weight;
forward_heap.DecreaseKey(*toNodeData);
}
}
}
@@ -342,34 +348,35 @@ void routingStep(const DataFacade<Algorithm> &facade,
const bool force_loop_reverse,
Args... args)
{
const auto node = forward_heap.DeleteMin();
const auto weight = forward_heap.GetKey(node);
const auto heapNode = forward_heap.DeleteMinGetHeapNode();
const auto weight = heapNode.weight;
BOOST_ASSERT(!facade.ExcludeNode(node));
BOOST_ASSERT(!facade.ExcludeNode(heapNode.node));
// Upper bound for the path source -> target with
// weight(source -> node) = weight weight(to -> target) ≤ reverse_weight
// is weight + reverse_weight
// More tighter upper bound requires additional condition reverse_heap.WasRemoved(to)
// with weight(to -> target) = reverse_weight and all weights ≥ 0
if (reverse_heap.WasInserted(node))
auto reverveNodeData= reverse_heap.WasInsertedGetHeapNode(heapNode.node);
if (reverveNodeData)
{
auto reverse_weight = reverse_heap.GetKey(node);
auto reverse_weight = reverveNodeData->weight;
auto path_weight = weight + reverse_weight;
// MLD uses loops forcing only to prune single node paths in forward and/or
// backward direction (there is no need to force loops in MLD but in CH)
if (!(force_loop_forward && forward_heap.GetData(node).parent == node) &&
!(force_loop_reverse && reverse_heap.GetData(node).parent == node) &&
if (!(force_loop_forward && heapNode.data.parent == heapNode.node) &&
!(force_loop_reverse && reverveNodeData->data.parent == heapNode.node) &&
(path_weight >= 0) && (path_weight < path_upper_bound))
{
middle_node = node;
middle_node = heapNode.node;
path_upper_bound = path_weight;
}
}
// Relax outgoing edges from node
relaxOutgoingEdges<DIRECTION>(facade, forward_heap, node, weight, args...);
relaxOutgoingEdges<DIRECTION>(facade, forward_heap, heapNode, weight, args...);
}
// With (s, middle, t) we trace back the paths middle -> s and middle -> t.
include/util/query_heap.hpp
+61 -14
View File
@@ -2,6 +2,7 @@
#define OSRM_UTIL_QUERY_HEAP_HPP
#include <boost/assert.hpp>
#include <boost/optional.hpp>
#include <boost/heap/d_ary_heap.hpp>
#include <algorithm>
@@ -194,10 +195,27 @@ template <typename NodeID,
typename IndexStorage = ArrayStorage<NodeID, NodeID>>
class QueryHeap
{
private:
using HeapData = std::pair<Weight, Key>;
using HeapContainer = boost::heap::d_ary_heap<HeapData,
boost::heap::arity<4>,
boost::heap::mutable_<true>,
boost::heap::compare<std::greater<HeapData>>>;
using HeapHandle = typename HeapContainer::handle_type;
public:
using WeightType = Weight;
using DataType = Data;
struct HeapNode
{
HeapHandle handle;
NodeID node;
Weight weight;
Data data;
};
template <typename... StorageArgs> explicit QueryHeap(StorageArgs... args) : node_index(args...)
{
Clear();
@@ -230,6 +248,13 @@ class QueryHeap
return inserted_nodes[index].data;
}
HeapNode& getHeapNode(NodeID node)
{
const auto index = node_index.peek_index(node);
BOOST_ASSERT((int)index >= 0 && (int)index < (int)inserted_nodes.size());
return inserted_nodes[index];
}
Data const &GetData(NodeID node) const
{
const auto index = node_index.peek_index(node);
@@ -269,6 +294,28 @@ class QueryHeap
return inserted_nodes[index].node == node;
}
boost::optional<HeapNode&> WasInsertedGetHeapNode(const NodeID node)
{
const auto index = node_index.peek_index(node);
if (index >= static_cast<decltype(index)>(inserted_nodes.size()))
{
return {};
}
return inserted_nodes[index];
}
const boost::optional<const HeapNode&> WasInsertedGetHeapNode(const NodeID node) const
{
const auto index = node_index.peek_index(node);
if (index >= static_cast<decltype(index)>(inserted_nodes.size()))
{
return {};
}
return inserted_nodes[index];
}
NodeID Min() const
{
BOOST_ASSERT(!heap.empty());
@@ -290,6 +337,15 @@ class QueryHeap
return inserted_nodes[removedIndex].node;
}
HeapNode& DeleteMinGetHeapNode()
{
BOOST_ASSERT(!heap.empty());
const Key removedIndex = heap.top().second;
heap.pop();
inserted_nodes[removedIndex].handle = heap.s_handle_from_iterator(heap.end());
return inserted_nodes[removedIndex];
}
void DeleteAll()
{
auto const none_handle = heap.s_handle_from_iterator(heap.end());
@@ -308,22 +364,13 @@ class QueryHeap
heap.increase(reference.handle, std::make_pair(weight, index));
}
private:
using HeapData = std::pair<Weight, Key>;
using HeapContainer = boost::heap::d_ary_heap<HeapData,
boost::heap::arity<4>,
boost::heap::mutable_<true>,
boost::heap::compare<std::greater<HeapData>>>;
using HeapHandle = typename HeapContainer::handle_type;
struct HeapNode
void DecreaseKey(const HeapNode& heapNode)
{
HeapHandle handle;
NodeID node;
Weight weight;
Data data;
};
BOOST_ASSERT(!WasRemoved(heapNode.node));
heap.increase(heapNode.handle, std::make_pair(heapNode.weight, (*heapNode.handle).second));
}
private:
std::vector<HeapNode> inserted_nodes;
HeapContainer heap;
IndexStorage node_index;