perform zero-length segment removal
This commit is contained in:
Moritz Kobitzsch
Patrick Niklaus
parent
c47f6e2ca5
commit
5e6d638c6f
@ -106,7 +106,8 @@ class RouteAPI : public BaseAPI
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* Using post-processing on basis of route-steps for a single leg at a time
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* comes at the cost that we cannot count the correct exit for roundabouts.
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* We can only emit the exit nr/intersections up to/starting at a part of the leg.
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* If a roundabout is not terminated in a leg, we will end up with a enter-roundabout
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* If a roundabout is not terminated in a leg, we will end up with a
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*enter-roundabout
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* and exit-roundabout-nr where the exit nr is out of sync with the previous enter.
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*
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* | S |
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@ -118,16 +119,22 @@ class RouteAPI : public BaseAPI
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* | |
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* | |
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*
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* Coming from S via V to T, we end up with the legs S->V and V->T. V-T will say to take
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* Coming from S via V to T, we end up with the legs S->V and V->T. V-T will say to
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*take
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* the second exit, even though counting from S it would be the third.
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* For S, we only emit `roundabout` without an exit number, showing that we enter a roundabout
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* For S, we only emit `roundabout` without an exit number, showing that we enter a
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*roundabout
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* to find a via point.
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* The same exit will be emitted, though, if we should start routing at S, making
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* the overall response consistent.
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*/
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leg.steps = guidance::postProcess(std::move(steps));
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leg_geometry = guidance::resyncGeometry(std::move(leg_geometry),leg.steps);
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guidance::trimShortSegments(leg.steps, leg_geometry);
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leg.steps = guidance::assignRelativeLocations(std::move(leg.steps), leg_geometry,
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phantoms.source_phantom,
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phantoms.target_phantom);
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leg_geometry = guidance::resyncGeometry(std::move(leg_geometry), leg.steps);
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}
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leg_geometries.push_back(std::move(leg_geometry));
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@ -62,25 +62,11 @@ std::vector<RouteStep> assembleSteps(const DataFacadeT &facade,
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std::size_t segment_index = 0;
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BOOST_ASSERT(leg_geometry.locations.size() >= 2);
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// We report the relative position of source/target to the road only within a range that is
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// sufficiently different but not full of the path
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const constexpr double MINIMAL_RELATIVE_DISTANCE = 5., MAXIMAL_RELATIVE_DISTANCE = 300.;
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const auto distance_to_start = util::coordinate_calculation::haversineDistance(
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source_node.input_location, leg_geometry.locations[0]);
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const auto initial_modifier =
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distance_to_start >= MINIMAL_RELATIVE_DISTANCE &&
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distance_to_start <= MAXIMAL_RELATIVE_DISTANCE
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? angleToDirectionModifier(util::coordinate_calculation::computeAngle(
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source_node.input_location, leg_geometry.locations[0], leg_geometry.locations[1]))
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: extractor::guidance::DirectionModifier::UTurn;
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if (leg_data.size() > 0)
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{
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StepManeuver maneuver = detail::stepManeuverFromGeometry(
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extractor::guidance::TurnInstruction{extractor::guidance::TurnType::NoTurn,
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initial_modifier},
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WaypointType::Depart, leg_geometry);
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extractor::guidance::TurnInstruction::NO_TURN(), WaypointType::Depart, leg_geometry);
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maneuver.location = source_node.location;
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// PathData saves the information we need of the segment _before_ the turn,
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@ -134,9 +120,7 @@ std::vector<RouteStep> assembleSteps(const DataFacadeT &facade,
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// |---------| target_duration
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StepManeuver maneuver = detail::stepManeuverFromGeometry(
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extractor::guidance::TurnInstruction{extractor::guidance::TurnType::NoTurn,
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initial_modifier},
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WaypointType::Depart, leg_geometry);
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extractor::guidance::TurnInstruction::NO_TURN(), WaypointType::Depart, leg_geometry);
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int duration = target_duration - source_duration;
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BOOST_ASSERT(duration >= 0);
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@ -151,20 +135,9 @@ std::vector<RouteStep> assembleSteps(const DataFacadeT &facade,
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}
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BOOST_ASSERT(segment_index == number_of_segments - 1);
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const auto distance_from_end = util::coordinate_calculation::haversineDistance(
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target_node.input_location, leg_geometry.locations.back());
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const auto final_modifier =
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distance_from_end >= MINIMAL_RELATIVE_DISTANCE &&
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distance_from_end <= MAXIMAL_RELATIVE_DISTANCE
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? angleToDirectionModifier(util::coordinate_calculation::computeAngle(
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leg_geometry.locations[leg_geometry.locations.size() - 2],
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leg_geometry.locations[leg_geometry.locations.size() - 1],
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target_node.input_location))
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: extractor::guidance::DirectionModifier::UTurn;
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// This step has length zero, the only reason we need it is the target location
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auto final_maneuver = detail::stepManeuverFromGeometry(
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extractor::guidance::TurnInstruction{extractor::guidance::TurnType::NoTurn, final_modifier},
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WaypointType::Arrive, leg_geometry);
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extractor::guidance::TurnInstruction::NO_TURN(), WaypointType::Arrive, leg_geometry);
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steps.push_back(RouteStep{target_node.name_id,
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facade.GetNameForID(target_node.name_id),
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ZERO_DURATION,
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@ -1,6 +1,7 @@
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#ifndef ENGINE_GUIDANCE_POST_PROCESSING_HPP
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#define ENGINE_GUIDANCE_POST_PROCESSING_HPP
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#include "engine/phantom_node.hpp"
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#include "engine/guidance/route_step.hpp"
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#include "engine/guidance/leg_geometry.hpp"
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@ -16,6 +17,19 @@ namespace guidance
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// passed as none-reference to modify in-place and move out again
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std::vector<RouteStep> postProcess(std::vector<RouteStep> steps);
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// trim initial/final segment of very short length.
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// This function uses in/out parameter passing to modify both steps and geometry in place.
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// We use this method since both steps and geometry are closely coupled logically but
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// are not coupled in the same way in the background. To avoid the additional overhead
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// of introducing intermediate structions, we resolve to the in/out scheme at this point.
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void trimShortSegments(std::vector<RouteStep> &steps, LegGeometry &geometry);
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// assign relative locations to depart/arrive instructions
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std::vector<RouteStep> assignRelativeLocations(std::vector<RouteStep> steps,
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const LegGeometry &geometry,
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const PhantomNode &source_node,
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const PhantomNode &target_node);
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// postProcess will break the connection between the leg geometry
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// for which a segment is supposed to represent exactly the coordinates
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// between routing maneuvers and the route steps itself.
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@ -22,7 +22,7 @@ StepManeuver stepManeuverFromGeometry(extractor::guidance::TurnInstruction instr
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double pre_turn_bearing = 0, post_turn_bearing = 0;
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Coordinate turn_coordinate;
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if (waypoint_type == WaypointType::Arrive)
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if (waypoint_type == WaypointType::Depart)
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{
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turn_coordinate = leg_geometry.locations.front();
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const auto post_turn_coordinate = *(leg_geometry.locations.begin() + 1);
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@ -31,7 +31,7 @@ StepManeuver stepManeuverFromGeometry(extractor::guidance::TurnInstruction instr
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}
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else
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{
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BOOST_ASSERT(waypoint_type == WaypointType::Depart);
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BOOST_ASSERT(waypoint_type == WaypointType::Arrive);
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turn_coordinate = leg_geometry.locations.back();
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const auto pre_turn_coordinate = *(leg_geometry.locations.end() - 2);
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pre_turn_bearing =
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@ -2,12 +2,16 @@
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#include "extractor/guidance/turn_instruction.hpp"
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#include "engine/guidance/toolkit.hpp"
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#include "engine/guidance/assemble_steps.hpp"
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#include <boost/assert.hpp>
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#include <boost/range/algorithm_ext/erase.hpp>
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#include <algorithm>
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#include <iostream>
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#include <cmath>
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#include <cstddef>
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#include <limits>
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#include <utility>
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using TurnInstruction = osrm::extractor::guidance::TurnInstruction;
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@ -292,6 +296,131 @@ std::vector<RouteStep> postProcess(std::vector<RouteStep> steps)
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return steps;
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}
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void trimShortSegments(std::vector<RouteStep> &steps, LegGeometry &geometry)
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{
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// Doing this step in post-processing provides a few challenges we cannot overcome.
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// The removal of an initial step imposes some copy overhead in the steps, moving all later
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// steps to the front.
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// In addition, we cannot reduce the travel time that is accumulated at a different location.
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// As a direct implication, we have to keep the time of the initial/final turns (which adds a
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// few seconds of inaccuracy at both ends. This is acceptable, however, since the turn should
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// usually not be as relevant.
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if (steps.size() <= 2)
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return;
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// if phantom node is located at the connection of two segments, either one can be selected as
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// turn
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//
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// a --- b
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// |
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// c
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//
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// If a route from b to c is requested, both a--b and b--c could be selected as start segment.
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// In case of a--b, we end up with an unwanted turn saying turn-right onto b-c.
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// These cases start off with an initial segment which is of zero length.
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// We have to be careful though, since routing that starts in a roundabout has a valid
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// initial segment of length zero and we cannot delete the upcoming segment.
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if (steps.front().distance <= std::numeric_limits<double>::epsilon() &&
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!entersRoundabout((steps.begin() + 1)->maneuver.instruction))
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{
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// We have to adjust the first step both for its name and the bearings
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const auto ¤t_depart = steps.front();
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auto &designated_depart = *(steps.begin() + 1);
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// FIXME this is required to be consistent with the route durations. The initial turn is not
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// actually part of the route, though
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designated_depart.duration += current_depart.duration;
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geometry.locations.erase(geometry.locations.begin());
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BOOST_ASSERT(geometry.segment_offsets[1] == 1);
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// geometry offsets have to be adjusted. Move all offsets to the front and reduce by one.
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std::transform(geometry.segment_offsets.begin() + 1, geometry.segment_offsets.end(),
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geometry.segment_offsets.begin(), [](const std::size_t val)
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{
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return val - 1;
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});
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geometry.segment_offsets.pop_back();
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// remove the initial distance value
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geometry.segment_distances.erase(geometry.segment_distances.begin());
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// update initial turn direction/bearings. Due to the duplicated first coordinate, the
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// initial bearing is invalid
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designated_depart.maneuver = detail::stepManeuverFromGeometry(
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TurnInstruction::NO_TURN(), WaypointType::Depart, geometry);
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// finally remove the initial (now duplicated move)
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steps.erase(steps.begin());
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// and update the leg geometry indices for the removed entry
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std::for_each(steps.begin(), steps.end(), [](RouteStep &step)
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{
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--step.geometry_begin;
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--step.geometry_end;
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});
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}
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// make sure we still have enough segments
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if (steps.size() <= 2)
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return;
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auto &next_to_last_step = *(steps.end() - 2);
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// in the end, the situation with the roundabout cannot occur. As a result, we can remove all
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// zero-length instructions
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if (next_to_last_step.distance <= std::numeric_limits<double>::epsilon())
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{
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geometry.locations.pop_back();
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geometry.segment_offsets.pop_back();
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BOOST_ASSERT(geometry.segment_distances.back() < std::numeric_limits<double>::epsilon());
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geometry.segment_distances.pop_back();
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next_to_last_step.maneuver = detail::stepManeuverFromGeometry(
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TurnInstruction::NO_TURN(), WaypointType::Arrive, geometry);
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steps.pop_back();
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// the geometry indices of the last step are already correct;
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}
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}
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// assign relative locations to depart/arrive instructions
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std::vector<RouteStep> assignRelativeLocations(std::vector<RouteStep> steps,
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const LegGeometry &leg_geometry,
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const PhantomNode &source_node,
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const PhantomNode &target_node)
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{
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// We report the relative position of source/target to the road only within a range that is
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// sufficiently different but not full of the path
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BOOST_ASSERT(steps.size() >= 2 );
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BOOST_ASSERT(leg_geometry.locations.size() >= 2 );
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const constexpr double MINIMAL_RELATIVE_DISTANCE = 5., MAXIMAL_RELATIVE_DISTANCE = 300.;
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const auto distance_to_start = util::coordinate_calculation::haversineDistance(
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source_node.input_location, leg_geometry.locations[0]);
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const auto initial_modifier =
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distance_to_start >= MINIMAL_RELATIVE_DISTANCE &&
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distance_to_start <= MAXIMAL_RELATIVE_DISTANCE
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? angleToDirectionModifier(util::coordinate_calculation::computeAngle(
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source_node.input_location, leg_geometry.locations.at(0), leg_geometry.locations.at(1)))
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: extractor::guidance::DirectionModifier::UTurn;
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steps.front().maneuver.instruction.direction_modifier = initial_modifier;
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const auto distance_from_end = util::coordinate_calculation::haversineDistance(
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target_node.input_location, leg_geometry.locations.back());
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const auto final_modifier =
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distance_from_end >= MINIMAL_RELATIVE_DISTANCE &&
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distance_from_end <= MAXIMAL_RELATIVE_DISTANCE
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? angleToDirectionModifier(util::coordinate_calculation::computeAngle(
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leg_geometry.locations.at(leg_geometry.locations.size() - 2),
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leg_geometry.locations.at(leg_geometry.locations.size() - 1),
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target_node.input_location))
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: extractor::guidance::DirectionModifier::UTurn;
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steps.back().maneuver.instruction.direction_modifier = final_modifier;
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return steps;
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}
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LegGeometry resyncGeometry(LegGeometry leg_geometry, const std::vector<RouteStep> &steps)
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{
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// The geometry uses an adjacency array-like structure for representation.
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@ -308,7 +437,7 @@ LegGeometry resyncGeometry(LegGeometry leg_geometry, const std::vector<RouteStep
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leg_geometry.segment_offsets.push_back(step.geometry_end - 1);
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}
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//remove the data fromt the reached-target step again
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// remove the data fromt the reached-target step again
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leg_geometry.segment_offsets.pop_back();
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leg_geometry.segment_distances.pop_back();
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