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turn penalties, k*angle^2 with left/right bias

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This commit is contained in:
Emil Tin 2012-05-01 10:10:45 +02:00
parent c64aaab193
commit 49feb5beb9
4 changed files with 76 additions and 36 deletions
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45
Contractor/EdgeBasedGraphFactory.cpp
View File

@ -28,7 +28,7 @@
#include "EdgeBasedGraphFactory.h"
template<>
EdgeBasedGraphFactory::EdgeBasedGraphFactory(int nodes, std::vector<NodeBasedEdge> & inputEdges, std::vector<NodeID> & bn, std::vector<NodeID> & tl, std::vector<_Restriction> & irs, std::vector<NodeInfo> & nI, boost::property_tree::ptree speedProfile, std::string & srtm) : inputNodeInfoList(nI), numberOfTurnRestrictions(irs.size()), trafficSignalPenalty(0) {
EdgeBasedGraphFactory::EdgeBasedGraphFactory(int nodes, std::vector<NodeBasedEdge> & inputEdges, std::vector<NodeID> & bn, std::vector<NodeID> & tl, std::vector<_Restriction> & irs, std::vector<NodeInfo> & nI, boost::property_tree::ptree speedProfile, std::string & srtm) : inputNodeInfoList(nI), numberOfTurnRestrictions(irs.size()), trafficSignalPenalty(0), turnPenalty(0), turnBias(1.0) {
BOOST_FOREACH(_Restriction & restriction, irs) {
std::pair<NodeID, NodeID> restrictionSource = std::make_pair(restriction.fromNode, restriction.viaNode);
unsigned index;
@ -73,6 +73,21 @@ EdgeBasedGraphFactory::EdgeBasedGraphFactory(int nodes, std::vector<NodeBasedEdg
std::string value = v.second.get<std::string>("");
takeMinimumOfSpeeds = (v.second.get<std::string>("") == "yes");
}
if("turnPenalty" == v.first) {
try {
turnPenalty = boost::lexical_cast<int>(v.second.get<std::string>(""));
} catch(boost::bad_lexical_cast &) {
turnPenalty = 0;
}
}
if("turnBias" == v.first) {
std::string value = v.second.get<std::string>("");
try {
turnBias = boost::lexical_cast<float>(v.second.get<std::string>(""));
} catch(boost::bad_lexical_cast &) {
turnBias = 1;
}
}
}
// INFO("traffic signal penalty: " << trafficSignalPenalty << ", U-Turn penalty: " << uturnPenalty << ", takeMinimumOfSpeeds=" << (takeMinimumOfSpeeds ? "yes" : "no"));
@ -236,11 +251,12 @@ void EdgeBasedGraphFactory::Run() {
if(_trafficLights.find(v) != _trafficLights.end()) {
distance += trafficSignalPenalty;
}
short turnInstruction = AnalyzeTurn(u, v, w);
unsigned penalty = 0;
short turnInstruction = AnalyzeTurn(u, v, w, penalty);
//distance += heightPenalty;
if(turnInstruction == TurnInstructions.UTurn)
distance += uturnPenalty;
//distance += heightPenalty;
//distance += ComputeTurnPenalty(u, v, w);
distance += penalty;
assert(edgeData1.edgeBasedNodeID != edgeData2.edgeBasedNodeID);
EdgeBasedEdge newEdge(edgeData1.edgeBasedNodeID, edgeData2.edgeBasedNodeID, v, edgeData2.nameID, distance, true, false, turnInstruction);
edgeBasedEdges.push_back(newEdge);
@ -260,8 +276,11 @@ void EdgeBasedGraphFactory::Run() {
INFO("Generated " << edgeBasedNodes.size() << " edge based nodes");
}
short EdgeBasedGraphFactory::AnalyzeTurn(const NodeID u, const NodeID v, const NodeID w) const {
if(u == w) {
short EdgeBasedGraphFactory::AnalyzeTurn(const NodeID u, const NodeID v, const NodeID w, unsigned& penalty) const {
double angle = GetAngleBetweenTwoEdges(inputNodeInfoList[u], inputNodeInfoList[v], inputNodeInfoList[w]);
penalty = ComputeTurnPenalty( angle );
if(u == w) {
return TurnInstructions.UTurn;
}
@ -297,10 +316,22 @@ short EdgeBasedGraphFactory::AnalyzeTurn(const NodeID u, const NodeID v, const N
if( (data1.nameID == data2.nameID) && (0 == data1.nameID) && (_nodeBasedGraph->GetOutDegree(v) <= 2) )
return TurnInstructions.NoTurn;
double angle = GetAngleBetweenTwoEdges(inputNodeInfoList[u], inputNodeInfoList[v], inputNodeInfoList[w]);
return TurnInstructions.GetTurnDirectionOfInstruction(angle);
}
unsigned EdgeBasedGraphFactory::ComputeTurnPenalty(const float angle) const {
unsigned out;
float a = angle-180;
float k = turnPenalty/(90.0*90.0);
if( a>=0 ) {
out = k*a*a*turnBias; //right turn
} else {
out = k*a*a/turnBias; //left turn
}
//INFO("angle " << a << ", out "<< out);
return out;
}
unsigned EdgeBasedGraphFactory::GetNumberOfNodes() const {
return _nodeBasedGraph->GetNumberOfEdges();
}

7
Contractor/EdgeBasedGraphFactory.h
View File

@ -117,6 +117,8 @@ private:
unsigned numberOfTurnRestrictions;
unsigned trafficSignalPenalty;
unsigned uturnPenalty;
unsigned turnPenalty;
double turnBias;
bool takeMinimumOfSpeeds;
public:
@ -127,8 +129,9 @@ public:
template< class ImportEdgeT >
void GetEdgeBasedEdges( std::vector< ImportEdgeT >& edges );
void GetEdgeBasedNodes( std::vector< EdgeBasedNode> & nodes);
short AnalyzeTurn(const NodeID u, const NodeID v, const NodeID w) const;
unsigned GetNumberOfNodes() const;
short AnalyzeTurn(const NodeID u, const NodeID v, const NodeID w, unsigned& penalty) const;
unsigned ComputeTurnPenalty(const float angle) const;
unsigned GetNumberOfNodes() const;
};
#endif /* EDGEBASEDGRAPHFACTORY_H_ */

2
DataStructures/TurnInstructions.h
View File

@ -80,7 +80,7 @@ struct TurnInstructionsClass {
};
static inline double GetTurnDirectionOfInstruction( const double angle ) {
if(angle >= 23 && angle < 67) {
if(angle >= 23 && angle < 67) {
return TurnSharpRight;
}
if (angle >= 67 && angle < 113) {

58
speedprofiles/bicycle.ini
View File

@ -1,28 +1,34 @@
[bicycle]
accessTag = bicycle
defaultSpeed = 17
obeyOneways = yes
useRestrictions = yes
obeyBollards = no
accessTag = bicycle
obeyOneways = yes
useRestrictions = yes
obeyBollards = no
takeMinimumOfSpeeds = yes
excludeFromGrid = ferry
defaultSpeed = 17
trafficSignalPenalty = 10
turnPenalty = 50
turnBias = 1.4
cycleway = 19
primary = 19
primary_link = 19
secondary = 18
secondary_link = 18
tertiary = 17
residential = 16
unclassified = 16
road = 16
living_street = 15
service = 15
track = 13
path = 13
footway = 5
pedestrian = 5
pier = 5
platform = 5
steps = 3
ferry = 5
cycleway = 19
primary = 19
primary_link = 19
secondary = 17
secondary_link = 17
tertiary = 15
residential = 15
unclassified = 15
living_street = 13
road = 13
service = 12
track = 12
path = 12
footway = 10
pedestrian = 5
pier = 5
steps = 3
ferry = 5
excludeFromGrid = ferry
trafficSignalPenalty = 10