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make roundabout maneuvers continuous with respect to lane changes

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This commit is contained in:
Moritz Kobitzsch
2016-07-15 14:14:06 +02:00
parent 86241a2793
commit 396add1e9d
5 changed files with 70 additions and 7 deletions
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src/engine/guidance/lane_processing.cpp
+5 -5
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@@ -1,3 +1,4 @@
#include "util/debug.hpp"
#include "util/for_each_pair.hpp"
#include "util/group_by.hpp"
#include "util/guidance/toolkit.hpp"
@@ -20,18 +21,17 @@ namespace engine
namespace guidance
{
std::vector<RouteStep> anticipateLaneChange(std::vector<RouteStep> steps)
std::vector<RouteStep> anticipateLaneChange(std::vector<RouteStep> steps,
const double min_duration_needed_for_lane_change)
{
const constexpr auto MIN_DURATION_NEEDED_FOR_LANE_CHANGE = 15.;
// Postprocessing does not strictly guarantee for only turns
const auto is_turn = [](const RouteStep &step) {
return step.maneuver.instruction.type != TurnType::NewName &&
step.maneuver.instruction.type != TurnType::Notification;
};
const auto is_quick = [MIN_DURATION_NEEDED_FOR_LANE_CHANGE](const RouteStep &step) {
return step.duration < MIN_DURATION_NEEDED_FOR_LANE_CHANGE;
const auto is_quick = [min_duration_needed_for_lane_change](const RouteStep &step) {
return step.duration < min_duration_needed_for_lane_change;
};
const auto is_quick_turn = [&](const RouteStep &step) {
src/engine/guidance/post_processing.cpp
+4 -1
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@@ -524,7 +524,10 @@ std::vector<RouteStep> anticipateLaneChangeForRoundabouts(std::vector<RouteStep>
enter.maneuver.instruction.direction_modifier =
mirrorDirectionModifier(enter_direction);
auto enterAndLeave = anticipateLaneChange({enter, leave});
// a roundabout is a continuous maneuver. We don't switch lanes within a roundabout, as long
// as it can be avoided.
auto enterAndLeave =
anticipateLaneChange({enter, leave}, std::numeric_limits<double>::max());
// Undo flipping direction on a right turn in a right-sided counter-clockwise roundabout.
// FIXME: assumes right-side driving (counter-clockwise roundabout flow)