Split routing_base into CH and non-CH parts
This commit is contained in:
Michael Krasnyk
@@ -0,0 +1,501 @@
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#include "engine/routing_algorithms/routing_base_ch.hpp"
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namespace osrm
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{
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namespace engine
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{
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namespace routing_algorithms
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{
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namespace ch
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{
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/**
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* Unpacks a single edge (NodeID->NodeID) from the CH graph down to it's original non-shortcut
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* route.
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* @param from the node the CH edge starts at
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* @param to the node the CH edge finishes at
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* @param unpacked_path the sequence of original NodeIDs that make up the expanded CH edge
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*/
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void unpackEdge(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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const NodeID from,
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const NodeID to,
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std::vector<NodeID> &unpacked_path)
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{
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std::array<NodeID, 2> path{{from, to}};
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unpackPath(facade,
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path.begin(),
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path.end(),
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[&unpacked_path](const std::pair<NodeID, NodeID> &edge, const auto & /* data */) {
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unpacked_path.emplace_back(edge.first);
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});
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unpacked_path.emplace_back(to);
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}
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void retrievePackedPathFromHeap(const SearchEngineData::QueryHeap &forward_heap,
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const SearchEngineData::QueryHeap &reverse_heap,
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const NodeID middle_node_id,
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std::vector<NodeID> &packed_path)
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{
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retrievePackedPathFromSingleHeap(forward_heap, middle_node_id, packed_path);
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std::reverse(packed_path.begin(), packed_path.end());
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packed_path.emplace_back(middle_node_id);
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retrievePackedPathFromSingleHeap(reverse_heap, middle_node_id, packed_path);
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}
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void retrievePackedPathFromSingleHeap(const SearchEngineData::QueryHeap &search_heap,
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const NodeID middle_node_id,
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std::vector<NodeID> &packed_path)
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{
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NodeID current_node_id = middle_node_id;
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// all initial nodes will have itself as parent, or a node not in the heap
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// in case of a core search heap. We need a distinction between core entry nodes
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// and start nodes since otherwise start node specific code that assumes
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// node == node.parent (e.g. the loop code) might get actived.
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while (current_node_id != search_heap.GetData(current_node_id).parent &&
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search_heap.WasInserted(search_heap.GetData(current_node_id).parent))
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{
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current_node_id = search_heap.GetData(current_node_id).parent;
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packed_path.emplace_back(current_node_id);
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}
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}
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// assumes that heaps are already setup correctly.
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// ATTENTION: This only works if no additional offset is supplied next to the Phantom Node
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// Offsets.
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// In case additional offsets are supplied, you might have to force a loop first.
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// A forced loop might be necessary, if source and target are on the same segment.
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// If this is the case and the offsets of the respective direction are larger for the source
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// than the target
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// then a force loop is required (e.g. source_phantom.forward_segment_id ==
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// target_phantom.forward_segment_id
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// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
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// requires
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// a force loop, if the heaps have been initialized with positive offsets.
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void search(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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EdgeWeight &weight,
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std::vector<NodeID> &packed_leg,
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const bool force_loop_forward,
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const bool force_loop_reverse,
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const EdgeWeight weight_upper_bound)
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{
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NodeID middle = SPECIAL_NODEID;
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weight = weight_upper_bound;
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// get offset to account for offsets on phantom nodes on compressed edges
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const auto min_edge_offset = std::min(0, forward_heap.MinKey());
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BOOST_ASSERT(min_edge_offset <= 0);
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// we only every insert negative offsets for nodes in the forward heap
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BOOST_ASSERT(reverse_heap.MinKey() >= 0);
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// run two-Target Dijkstra routing step.
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while (0 < (forward_heap.Size() + reverse_heap.Size()))
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{
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if (!forward_heap.Empty())
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{
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routingStep<FORWARD_DIRECTION>(facade,
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forward_heap,
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reverse_heap,
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middle,
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weight,
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min_edge_offset,
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force_loop_forward,
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force_loop_reverse);
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}
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if (!reverse_heap.Empty())
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{
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routingStep<REVERSE_DIRECTION>(facade,
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reverse_heap,
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forward_heap,
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middle,
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weight,
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min_edge_offset,
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force_loop_reverse,
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force_loop_forward);
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}
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}
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// No path found for both target nodes?
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if (weight_upper_bound <= weight || SPECIAL_NODEID == middle)
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{
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weight = INVALID_EDGE_WEIGHT;
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return;
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}
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// Was a paths over one of the forward/reverse nodes not found?
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BOOST_ASSERT_MSG((SPECIAL_NODEID != middle && INVALID_EDGE_WEIGHT != weight), "no path found");
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// make sure to correctly unpack loops
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if (weight != forward_heap.GetKey(middle) + reverse_heap.GetKey(middle))
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{
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// self loop makes up the full path
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packed_leg.push_back(middle);
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packed_leg.push_back(middle);
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}
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else
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{
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retrievePackedPathFromHeap(forward_heap, reverse_heap, middle, packed_leg);
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}
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}
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// assumes that heaps are already setup correctly.
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// A forced loop might be necessary, if source and target are on the same segment.
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// If this is the case and the offsets of the respective direction are larger for the source
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// than the target
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// then a force loop is required (e.g. source_phantom.forward_segment_id ==
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// target_phantom.forward_segment_id
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// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
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// requires
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// a force loop, if the heaps have been initialized with positive offsets.
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void search(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CoreCH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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SearchEngineData::QueryHeap &forward_core_heap,
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SearchEngineData::QueryHeap &reverse_core_heap,
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EdgeWeight &weight,
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std::vector<NodeID> &packed_leg,
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const bool force_loop_forward,
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const bool force_loop_reverse,
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EdgeWeight weight_upper_bound)
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{
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NodeID middle = SPECIAL_NODEID;
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weight = weight_upper_bound;
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using CoreEntryPoint = std::tuple<NodeID, EdgeWeight, NodeID>;
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std::vector<CoreEntryPoint> forward_entry_points;
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std::vector<CoreEntryPoint> reverse_entry_points;
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// get offset to account for offsets on phantom nodes on compressed edges
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const auto min_edge_offset = std::min(0, forward_heap.MinKey());
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// we only every insert negative offsets for nodes in the forward heap
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BOOST_ASSERT(reverse_heap.MinKey() >= 0);
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// run two-Target Dijkstra routing step.
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while (0 < (forward_heap.Size() + reverse_heap.Size()))
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{
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if (!forward_heap.Empty())
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{
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if (facade.IsCoreNode(forward_heap.Min()))
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{
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const NodeID node = forward_heap.DeleteMin();
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const EdgeWeight key = forward_heap.GetKey(node);
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forward_entry_points.emplace_back(node, key, forward_heap.GetData(node).parent);
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}
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else
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{
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routingStep<FORWARD_DIRECTION>(facade,
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forward_heap,
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reverse_heap,
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middle,
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weight,
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min_edge_offset,
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force_loop_forward,
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force_loop_reverse);
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}
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}
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if (!reverse_heap.Empty())
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{
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if (facade.IsCoreNode(reverse_heap.Min()))
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{
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const NodeID node = reverse_heap.DeleteMin();
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const EdgeWeight key = reverse_heap.GetKey(node);
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reverse_entry_points.emplace_back(node, key, reverse_heap.GetData(node).parent);
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}
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else
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{
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routingStep<REVERSE_DIRECTION>(facade,
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reverse_heap,
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forward_heap,
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middle,
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weight,
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min_edge_offset,
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force_loop_reverse,
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force_loop_forward);
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}
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}
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}
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const auto insertInCoreHeap = [](const CoreEntryPoint &p,
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SearchEngineData::QueryHeap &core_heap) {
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NodeID id;
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EdgeWeight weight;
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NodeID parent;
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// TODO this should use std::apply when we get c++17 support
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std::tie(id, weight, parent) = p;
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core_heap.Insert(id, weight, parent);
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};
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forward_core_heap.Clear();
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for (const auto &p : forward_entry_points)
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{
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insertInCoreHeap(p, forward_core_heap);
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}
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reverse_core_heap.Clear();
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for (const auto &p : reverse_entry_points)
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{
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insertInCoreHeap(p, reverse_core_heap);
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}
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// get offset to account for offsets on phantom nodes on compressed edges
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EdgeWeight min_core_edge_offset = 0;
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if (forward_core_heap.Size() > 0)
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{
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min_core_edge_offset = std::min(min_core_edge_offset, forward_core_heap.MinKey());
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}
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if (reverse_core_heap.Size() > 0 && reverse_core_heap.MinKey() < 0)
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{
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min_core_edge_offset = std::min(min_core_edge_offset, reverse_core_heap.MinKey());
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}
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BOOST_ASSERT(min_core_edge_offset <= 0);
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// run two-target Dijkstra routing step on core with termination criterion
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while (0 < forward_core_heap.Size() && 0 < reverse_core_heap.Size() &&
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weight > (forward_core_heap.MinKey() + reverse_core_heap.MinKey()))
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{
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routingStep<FORWARD_DIRECTION, DISABLE_STALLING>(facade,
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forward_core_heap,
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reverse_core_heap,
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middle,
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weight,
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min_core_edge_offset,
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force_loop_forward,
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force_loop_reverse);
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routingStep<REVERSE_DIRECTION, DISABLE_STALLING>(facade,
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reverse_core_heap,
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forward_core_heap,
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middle,
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weight,
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min_core_edge_offset,
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force_loop_reverse,
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force_loop_forward);
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}
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// No path found for both target nodes?
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if (weight_upper_bound <= weight || SPECIAL_NODEID == middle)
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{
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weight = INVALID_EDGE_WEIGHT;
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return;
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}
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// Was a paths over one of the forward/reverse nodes not found?
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BOOST_ASSERT_MSG((SPECIAL_NODEID != middle && INVALID_EDGE_WEIGHT != weight), "no path found");
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// we need to unpack sub path from core heaps
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if (facade.IsCoreNode(middle))
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{
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if (weight != forward_core_heap.GetKey(middle) + reverse_core_heap.GetKey(middle))
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{
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// self loop
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BOOST_ASSERT(forward_core_heap.GetData(middle).parent == middle &&
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reverse_core_heap.GetData(middle).parent == middle);
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packed_leg.push_back(middle);
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packed_leg.push_back(middle);
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}
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else
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{
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std::vector<NodeID> packed_core_leg;
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retrievePackedPathFromHeap(
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forward_core_heap, reverse_core_heap, middle, packed_core_leg);
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BOOST_ASSERT(packed_core_leg.size() > 0);
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retrievePackedPathFromSingleHeap(forward_heap, packed_core_leg.front(), packed_leg);
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std::reverse(packed_leg.begin(), packed_leg.end());
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packed_leg.insert(packed_leg.end(), packed_core_leg.begin(), packed_core_leg.end());
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retrievePackedPathFromSingleHeap(reverse_heap, packed_core_leg.back(), packed_leg);
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}
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}
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else
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{
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if (weight != forward_heap.GetKey(middle) + reverse_heap.GetKey(middle))
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{
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// self loop
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BOOST_ASSERT(forward_heap.GetData(middle).parent == middle &&
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reverse_heap.GetData(middle).parent == middle);
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packed_leg.push_back(middle);
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packed_leg.push_back(middle);
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}
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else
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{
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retrievePackedPathFromHeap(forward_heap, reverse_heap, middle, packed_leg);
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}
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}
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}
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bool needsLoopForward(const PhantomNode &source_phantom, const PhantomNode &target_phantom)
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{
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return source_phantom.forward_segment_id.enabled && target_phantom.forward_segment_id.enabled &&
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source_phantom.forward_segment_id.id == target_phantom.forward_segment_id.id &&
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source_phantom.GetForwardWeightPlusOffset() >
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target_phantom.GetForwardWeightPlusOffset();
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}
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bool needsLoopBackwards(const PhantomNode &source_phantom, const PhantomNode &target_phantom)
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{
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return source_phantom.reverse_segment_id.enabled && target_phantom.reverse_segment_id.enabled &&
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source_phantom.reverse_segment_id.id == target_phantom.reverse_segment_id.id &&
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source_phantom.GetReverseWeightPlusOffset() >
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target_phantom.GetReverseWeightPlusOffset();
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}
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double getPathDistance(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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const std::vector<NodeID> &packed_path,
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const PhantomNode &source_phantom,
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const PhantomNode &target_phantom)
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{
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std::vector<PathData> unpacked_path;
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PhantomNodes nodes;
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nodes.source_phantom = source_phantom;
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nodes.target_phantom = target_phantom;
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unpackPath(facade, packed_path.begin(), packed_path.end(), nodes, unpacked_path);
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using util::coordinate_calculation::detail::DEGREE_TO_RAD;
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using util::coordinate_calculation::detail::EARTH_RADIUS;
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double distance = 0;
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double prev_lat = static_cast<double>(toFloating(source_phantom.location.lat)) * DEGREE_TO_RAD;
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double prev_lon = static_cast<double>(toFloating(source_phantom.location.lon)) * DEGREE_TO_RAD;
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double prev_cos = std::cos(prev_lat);
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for (const auto &p : unpacked_path)
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{
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const auto current_coordinate = facade.GetCoordinateOfNode(p.turn_via_node);
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const double current_lat =
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static_cast<double>(toFloating(current_coordinate.lat)) * DEGREE_TO_RAD;
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const double current_lon =
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static_cast<double>(toFloating(current_coordinate.lon)) * DEGREE_TO_RAD;
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const double current_cos = std::cos(current_lat);
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const double sin_dlon = std::sin((prev_lon - current_lon) / 2.0);
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const double sin_dlat = std::sin((prev_lat - current_lat) / 2.0);
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const double aharv = sin_dlat * sin_dlat + prev_cos * current_cos * sin_dlon * sin_dlon;
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const double charv = 2. * std::atan2(std::sqrt(aharv), std::sqrt(1.0 - aharv));
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distance += EARTH_RADIUS * charv;
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prev_lat = current_lat;
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prev_lon = current_lon;
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prev_cos = current_cos;
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}
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const double current_lat =
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static_cast<double>(toFloating(target_phantom.location.lat)) * DEGREE_TO_RAD;
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const double current_lon =
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static_cast<double>(toFloating(target_phantom.location.lon)) * DEGREE_TO_RAD;
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const double current_cos = std::cos(current_lat);
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const double sin_dlon = std::sin((prev_lon - current_lon) / 2.0);
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const double sin_dlat = std::sin((prev_lat - current_lat) / 2.0);
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const double aharv = sin_dlat * sin_dlat + prev_cos * current_cos * sin_dlon * sin_dlon;
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const double charv = 2. * std::atan2(std::sqrt(aharv), std::sqrt(1.0 - aharv));
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distance += EARTH_RADIUS * charv;
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return distance;
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}
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// Requires the heaps for be empty
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// If heaps should be adjusted to be initialized outside of this function,
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// the addition of force_loop parameters might be required
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double
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getNetworkDistance(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CoreCH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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SearchEngineData::QueryHeap &forward_core_heap,
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SearchEngineData::QueryHeap &reverse_core_heap,
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const PhantomNode &source_phantom,
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const PhantomNode &target_phantom,
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EdgeWeight weight_upper_bound)
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{
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forward_heap.Clear();
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reverse_heap.Clear();
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forward_core_heap.Clear();
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reverse_core_heap.Clear();
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insertNodesInHeaps(forward_heap, reverse_heap, {source_phantom, target_phantom});
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EdgeWeight weight = INVALID_EDGE_WEIGHT;
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std::vector<NodeID> packed_path;
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search(facade,
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forward_heap,
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reverse_heap,
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forward_core_heap,
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reverse_core_heap,
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weight,
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packed_path,
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DO_NOT_FORCE_LOOPS,
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DO_NOT_FORCE_LOOPS,
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weight_upper_bound);
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double distance = std::numeric_limits<double>::max();
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if (weight != INVALID_EDGE_WEIGHT)
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{
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return getPathDistance(facade, packed_path, source_phantom, target_phantom);
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}
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return distance;
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}
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// Requires the heaps for be empty
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||||
// If heaps should be adjusted to be initialized outside of this function,
|
||||
// the addition of force_loop parameters might be required
|
||||
double
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getNetworkDistance(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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||||
SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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const PhantomNode &source_phantom,
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const PhantomNode &target_phantom,
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EdgeWeight weight_upper_bound)
|
||||
{
|
||||
forward_heap.Clear();
|
||||
reverse_heap.Clear();
|
||||
|
||||
if (source_phantom.forward_segment_id.enabled)
|
||||
{
|
||||
forward_heap.Insert(source_phantom.forward_segment_id.id,
|
||||
-source_phantom.GetForwardWeightPlusOffset(),
|
||||
source_phantom.forward_segment_id.id);
|
||||
}
|
||||
if (source_phantom.reverse_segment_id.enabled)
|
||||
{
|
||||
forward_heap.Insert(source_phantom.reverse_segment_id.id,
|
||||
-source_phantom.GetReverseWeightPlusOffset(),
|
||||
source_phantom.reverse_segment_id.id);
|
||||
}
|
||||
|
||||
if (target_phantom.forward_segment_id.enabled)
|
||||
{
|
||||
reverse_heap.Insert(target_phantom.forward_segment_id.id,
|
||||
target_phantom.GetForwardWeightPlusOffset(),
|
||||
target_phantom.forward_segment_id.id);
|
||||
}
|
||||
if (target_phantom.reverse_segment_id.enabled)
|
||||
{
|
||||
reverse_heap.Insert(target_phantom.reverse_segment_id.id,
|
||||
target_phantom.GetReverseWeightPlusOffset(),
|
||||
target_phantom.reverse_segment_id.id);
|
||||
}
|
||||
|
||||
EdgeWeight weight = INVALID_EDGE_WEIGHT;
|
||||
std::vector<NodeID> packed_path;
|
||||
search(facade,
|
||||
forward_heap,
|
||||
reverse_heap,
|
||||
weight,
|
||||
packed_path,
|
||||
DO_NOT_FORCE_LOOPS,
|
||||
DO_NOT_FORCE_LOOPS,
|
||||
weight_upper_bound);
|
||||
|
||||
if (weight == INVALID_EDGE_WEIGHT)
|
||||
{
|
||||
return std::numeric_limits<double>::max();
|
||||
}
|
||||
|
||||
return getPathDistance(facade, packed_path, source_phantom, target_phantom);
|
||||
}
|
||||
|
||||
} // namespace ch
|
||||
} // namespace routing_algorithms
|
||||
} // namespace engine
|
||||
} // namespace osrm
|
||||
Reference in New Issue
Block a user