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migrated out of edge based graph factory

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This commit is contained in:
Moritz Kobitzsch 2016-02-25 14:40:26 +01:00 committed by Patrick Niklaus
parent 9f9040eaf6
commit 72202b7e4a
9 changed files with 975 additions and 843 deletions
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1
include/engine/api/route_api.hpp
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@ -86,7 +86,6 @@ class RouteAPI : public BaseAPI
leg_geometries.reserve(number_of_legs); leg_geometries.reserve(number_of_legs);
unpacked_path_segments = guidance::postProcess(std::move(unpacked_path_segments)); unpacked_path_segments = guidance::postProcess(std::move(unpacked_path_segments));
BOOST_ASSERT(locations.size() == number_of_legs + 1);
for (auto idx : util::irange(0UL, number_of_legs)) for (auto idx : util::irange(0UL, number_of_legs))
{ {
const auto &phantoms = segment_end_coordinates[idx]; const auto &phantoms = segment_end_coordinates[idx];

2
include/engine/guidance/assemble_steps.hpp
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@ -79,7 +79,7 @@ std::vector<RouteStep> assembleSteps(const DataFacadeT &facade,
steps.reserve(number_of_segments); steps.reserve(number_of_segments);
// TODO do computation based on distance and choose better next vertex // TODO do computation based on distance and choose better next vertex
BOOST_ASSERT(leg_geometry.size() >= 4); // source, phantom, closest positions on way BOOST_ASSERT(leg_geometry.locations.size() >= 4); // source, phantom, closest positions on way
const auto initial_modifier = const auto initial_modifier =
source_location source_location
? angleToDirectionModifier(util::coordinate_calculation::computeAngle( ? angleToDirectionModifier(util::coordinate_calculation::computeAngle(

2
include/engine/guidance/turn_classification.hpp
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@ -51,7 +51,7 @@ classifyIntersection(NodeID nid,
const auto base_coordinate = getRepresentativeCoordinate(nid, graph.GetTarget(base_id), base_id, const auto base_coordinate = getRepresentativeCoordinate(nid, graph.GetTarget(base_id), base_id,
graph.GetEdgeData(base_id).reversed, graph.GetEdgeData(base_id).reversed,
compressed_geometries, query_nodes); compressed_geometries, query_nodes);
const auto node_coordinate = Coordinate(query_nodes[nid].lon, query_nodes[nid].lat); const auto node_coordinate = util::Coordinate(query_nodes[nid].lon, query_nodes[nid].lat);
// generate a list of all turn angles between a base edge, the node and a current edge // generate a list of all turn angles between a base edge, the node and a current edge
for (const EdgeID eid : graph.GetAdjacentEdgeRange(nid)) for (const EdgeID eid : graph.GetAdjacentEdgeRange(nid))

46
include/extractor/edge_based_graph_factory.hpp
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@ -10,6 +10,7 @@
#include "extractor/edge_based_node.hpp" #include "extractor/edge_based_node.hpp"
#include "extractor/original_edge_data.hpp" #include "extractor/original_edge_data.hpp"
#include "extractor/query_node.hpp" #include "extractor/query_node.hpp"
#include "extractor/turn_analysis.hpp"
#include "engine/guidance/turn_instruction.hpp" #include "engine/guidance/turn_instruction.hpp"
@ -128,52 +129,9 @@ class EdgeBasedGraphFactory
void FlushVectorToStream(std::ofstream &edge_data_file, void FlushVectorToStream(std::ofstream &edge_data_file,
std::vector<OriginalEdgeData> &original_edge_data_vector) const; std::vector<OriginalEdgeData> &original_edge_data_vector) const;
struct TurnCandidate
{
EdgeID eid; // the id of the arc
bool valid; // a turn may be relevant to good instructions, even if we cannot take the road
double angle; // the approximated angle of the turn
engine::guidance::TurnInstruction instruction; // a proposed instruction
double confidence; // how close to the border is the turn?
std::string toString() const
{
std::string result = "[turn] ";
result += std::to_string(eid);
result += " valid: ";
result += std::to_string(valid);
result += " angle: ";
result += std::to_string(angle);
result += " instruction: ";
result += std::to_string(static_cast<std::int32_t>(instruction.type)) + " " +
std::to_string(static_cast<std::int32_t>(instruction.direction_modifier));
result += " confidence: ";
result += std::to_string(confidence);
return result;
}
};
// Use In Order to generate base turns // Use In Order to generate base turns
std::vector<TurnCandidate> getTurns(const NodeID from, const EdgeID via_edge);
// cannot be const due to the counters... // cannot be const due to the counters...
std::vector<TurnCandidate> getTurnCandidates(const NodeID from, const EdgeID via_edge);
std::vector<TurnCandidate> optimizeCandidates(const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates) const;
std::vector<TurnCandidate> optimizeRamps(const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates) const;
engine::guidance::TurnType
checkForkAndEnd(const EdgeID via_edge, const std::vector<TurnCandidate> &turn_candidates) const;
std::vector<TurnCandidate> handleForkAndEnd(const engine::guidance::TurnType type,
std::vector<TurnCandidate> turn_candidates) const;
std::vector<TurnCandidate> suppressTurns(const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates) const;
bool isObviousChoice(const EdgeID coming_from_eid,
const std::size_t turn_index,
const std::vector<TurnCandidate> &turn_candidates) const;
std::size_t restricted_turns_counter; std::size_t restricted_turns_counter;
std::size_t skipped_uturns_counter; std::size_t skipped_uturns_counter;

109
include/extractor/turn_analysis.hpp Normal file
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@ -0,0 +1,109 @@
#ifndef OSRM_EXTRACTOR_TURN_ANALYSIS
#define OSRM_EXTRACTOR_TURN_ANALYSIS
#include "engine/guidance/turn_classification.hpp"
#include "engine/guidance/guidance_toolkit.hpp"
#include "extractor/restriction_map.hpp"
#include "extractor/compressed_edge_container.hpp"
#include <unordered_set>
namespace osrm
{
namespace extractor
{
struct TurnCandidate
{
EdgeID eid; // the id of the arc
bool valid; // a turn may be relevant to good instructions, even if we cannot take the road
double angle; // the approximated angle of the turn
engine::guidance::TurnInstruction instruction; // a proposed instruction
double confidence; // how close to the border is the turn?
std::string toString() const
{
std::string result = "[turn] ";
result += std::to_string(eid);
result += " valid: ";
result += std::to_string(valid);
result += " angle: ";
result += std::to_string(angle);
result += " instruction: ";
result += std::to_string(static_cast<std::int32_t>(instruction.type)) + " " +
std::to_string(static_cast<std::int32_t>(instruction.direction_modifier));
result += " confidence: ";
result += std::to_string(confidence);
return result;
}
};
namespace turn_analysis
{
std::vector<TurnCandidate>
getTurns(const NodeID from_node,
const EdgeID via_eid,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph,
const std::vector<QueryNode> &node_info_list,
const std::shared_ptr<RestrictionMap const> restriction_map,
const std::unordered_set<NodeID> &barrier_nodes,
const CompressedEdgeContainer &compressed_edge_container);
std::vector<TurnCandidate>
setTurnTypes(const NodeID from,
const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph);
std::vector<TurnCandidate>
optimizeRamps(const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph);
engine::guidance::TurnType
checkForkAndEnd(const EdgeID via_eid,
const std::vector<TurnCandidate> &turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph);
std::vector<TurnCandidate> handleForkAndEnd(const engine::guidance::TurnType type,
std::vector<TurnCandidate> turn_candidates);
std::vector<TurnCandidate>
optimizeCandidates(const EdgeID via_eid,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph,
const std::vector<QueryNode> &node_info_list);
bool isObviousChoice(const EdgeID via_eid,
const std::size_t turn_index,
const std::vector<TurnCandidate> &turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph);
std::vector<TurnCandidate>
suppressTurns(const EdgeID via_eid,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph);
std::vector<TurnCandidate>
getTurnCandidates(const NodeID from_node,
const EdgeID via_eid,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph,
const std::vector<QueryNode> &node_info_list,
const std::shared_ptr<RestrictionMap const> restriction_map,
const std::unordered_set<NodeID> &barrier_nodes,
const CompressedEdgeContainer &compressed_edge_container);
// node_u -- (edge_1) --> node_v -- (edge_2) --> node_w
engine::guidance::TurnInstruction
AnalyzeTurn(const NodeID node_u,
const EdgeID edge1,
const NodeID node_v,
const EdgeID edge2,
const NodeID node_w,
const double angle,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph);
} // namespace turn_analysis
} // namespace extractor
} // namespace osrm
#endif // OSRM_EXTRACTOR_TURN_ANALYSIS

2
src/engine/api/json_factory.cpp
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@ -100,7 +100,7 @@ util::json::Object makeStepManeuver(const guidance::StepManeuver &maneuver)
{ {
util::json::Object step_maneuver; util::json::Object step_maneuver;
step_maneuver.values["type"] = detail::instructionTypeToString(maneuver.instruction.type); step_maneuver.values["type"] = detail::instructionTypeToString(maneuver.instruction.type);
if( isValidModifier( maneuver.instruction.type, maneuver.instruction.direction_modifier ) if( isValidModifier( maneuver.instruction.type, maneuver.instruction.direction_modifier ) )
step_maneuver.values["modifier"] = step_maneuver.values["modifier"] =
detail::instructionModifierToString(maneuver.instruction.direction_modifier); detail::instructionModifierToString(maneuver.instruction.direction_modifier);
step_maneuver.values["location"] = detail::coordinateToLonLat(maneuver.location); step_maneuver.values["location"] = detail::coordinateToLonLat(maneuver.location);

4
src/engine/guidance/post_processing.cpp
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@ -98,7 +98,9 @@ std::vector<std::vector<PathData>> postProcess(std::vector<std::vector<PathData>
bool on_roundabout = false; bool on_roundabout = false;
for (auto &path_data : leg_data) for (auto &path_data : leg_data)
{ {
path_data[0].exit = carry_exit; if( not path_data.empty() )
path_data[0].exit = carry_exit;
for (std::size_t data_index = 0; data_index + 1 < path_data.size(); ++data_index) for (std::size_t data_index = 0; data_index + 1 < path_data.size(); ++data_index)
{ {
if (entersRoundabout(path_data[data_index].turn_instruction) ) if (entersRoundabout(path_data[data_index].turn_instruction) )

808
src/extractor/edge_based_graph_factory.cpp
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@ -1,5 +1,6 @@
#include "extractor/edge_based_edge.hpp" #include "extractor/edge_based_edge.hpp"
#include "extractor/edge_based_graph_factory.hpp" #include "extractor/edge_based_graph_factory.hpp"
#include "extractor/turn_analysis.hpp"
#include "util/coordinate.hpp" #include "util/coordinate.hpp"
#include "util/coordinate_calculation.hpp" #include "util/coordinate_calculation.hpp"
#include "util/percent.hpp" #include "util/percent.hpp"
@ -27,41 +28,6 @@ namespace osrm
{ {
namespace extractor namespace extractor
{ {
// configuration of turn classification
const bool constexpr INVERT = true;
const bool constexpr RESOLVE_TO_RIGHT = true;
const bool constexpr RESOLVE_TO_LEFT = false;
// what angle is interpreted as going straight
const double constexpr STRAIGHT_ANGLE = 180.;
// if a turn deviates this much from going straight, it will be kept straight
const double constexpr MAXIMAL_ALLOWED_NO_TURN_DEVIATION = 2.;
// angle that lies between two nearly indistinguishable roads
const double constexpr NARROW_TURN_ANGLE = 35.;
// angle difference that can be classified as straight, if its the only narrow turn
const double constexpr FUZZY_STRAIGHT_ANGLE = 15.;
const double constexpr DISTINCTION_RATIO = 2;
using engine::guidance::TurnPossibility;
using engine::guidance::TurnInstruction;
using engine::guidance::DirectionModifier;
using engine::guidance::TurnType;
using engine::guidance::FunctionalRoadClass;
using engine::guidance::classifyIntersection;
using engine::guidance::isLowPriorityRoadClass;
using engine::guidance::angularDeviation;
using engine::guidance::getTurnDirection;
using engine::guidance::getRepresentativeCoordinate;
using engine::guidance::isBasic;
using engine::guidance::isRampClass;
using engine::guidance::isUturn;
using engine::guidance::isConflict;
using engine::guidance::isSlightTurn;
using engine::guidance::isSlightModifier;
using engine::guidance::mirrorDirectionModifier;
// Configuration to find representative candidate for turn angle calculations // Configuration to find representative candidate for turn angle calculations
EdgeBasedGraphFactory::EdgeBasedGraphFactory( EdgeBasedGraphFactory::EdgeBasedGraphFactory(
@ -344,8 +310,8 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
struct CompareTurnPossibilities struct CompareTurnPossibilities
{ {
bool operator()(const std::vector<TurnPossibility> &left, bool operator()(const std::vector<engine::guidance::TurnPossibility> &left,
const std::vector<TurnPossibility> &right) const const std::vector<engine::guidance::TurnPossibility> &right) const
{ {
if (left.size() < right.size()) if (left.size() < right.size())
return true; return true;
@ -367,8 +333,8 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
// temporary switch to allow display of turn types // temporary switch to allow display of turn types
#define SHOW_TURN_TYPES 0 #define SHOW_TURN_TYPES 0
#if SHOW_TURN_TYPES #if SHOW_TURN_TYPES
std::map<std::vector<TurnPossibility>, std::vector<util::FixedPointCoordinate>, std::map<std::vector<engine::guidance::TurnPossibility>,
CompareTurnPossibilities> turn_types; std::vector<util::FixedPointCoordinate>, CompareTurnPossibilities> turn_types;
#endif #endif
for (const auto node_u : util::irange(0u, m_node_based_graph->GetNumberOfNodes())) for (const auto node_u : util::irange(0u, m_node_based_graph->GetNumberOfNodes()))
@ -392,44 +358,18 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
} }
#endif #endif
// progress.printStatus(node_u); // progress.printStatus(node_u);
for (const EdgeID edge_form_u : m_node_based_graph->GetAdjacentEdgeRange(node_u)) for (const EdgeID edge_from_u : m_node_based_graph->GetAdjacentEdgeRange(node_u))
{ {
if (m_node_based_graph->GetEdgeData(edge_form_u).reversed) if (m_node_based_graph->GetEdgeData(edge_from_u).reversed)
{ {
continue; continue;
} }
++node_based_edge_counter; ++node_based_edge_counter;
auto turn_candidates = getTurnCandidates(node_u, edge_form_u); auto turn_candidates = turn_analysis::getTurns(node_u, edge_from_u, m_node_based_graph, m_node_info_list, m_restriction_map, m_barrier_nodes,
#define PRINT_DEBUG_CANDIDATES 0 m_compressed_edge_container);
#if PRINT_DEBUG_CANDIDATES
std::cout << "Initial Candidates:\n";
for (auto tc : turn_candidates)
std::cout << "\t" << tc.toString() << " "
<< (int)m_node_based_graph->GetEdgeData(tc.eid)
.road_classification.road_class
<< std::endl;
#endif
turn_candidates = optimizeCandidates(edge_form_u, turn_candidates);
#if PRINT_DEBUG_CANDIDATES
std::cout << "Optimized Candidates:\n";
for (auto tc : turn_candidates)
std::cout << "\t" << tc.toString() << " "
<< (int)m_node_based_graph->GetEdgeData(tc.eid)
.road_classification.road_class
<< std::endl;
#endif
turn_candidates = suppressTurns(edge_form_u, turn_candidates);
#if PRINT_DEBUG_CANDIDATES
std::cout << "Suppressed Candidates:\n";
for (auto tc : turn_candidates)
std::cout << "\t" << tc.toString() << " "
<< (int)m_node_based_graph->GetEdgeData(tc.eid)
.road_classification.road_class
<< std::endl;
#endif
const NodeID node_v = m_node_based_graph->GetTarget(edge_form_u); const NodeID node_v = m_node_based_graph->GetTarget(edge_from_u);
for (const auto turn : turn_candidates) for (const auto turn : turn_candidates)
{ {
@ -439,7 +379,7 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
const double turn_angle = turn.angle; const double turn_angle = turn.angle;
// only add an edge if turn is not prohibited // only add an edge if turn is not prohibited
const EdgeData &edge_data1 = m_node_based_graph->GetEdgeData(edge_form_u); const EdgeData &edge_data1 = m_node_based_graph->GetEdgeData(edge_from_u);
const EdgeData &edge_data2 = m_node_based_graph->GetEdgeData(turn.eid); const EdgeData &edge_data2 = m_node_based_graph->GetEdgeData(turn.eid);
BOOST_ASSERT(edge_data1.edge_id != edge_data2.edge_id); BOOST_ASSERT(edge_data1.edge_id != edge_data2.edge_id);
@ -463,9 +403,9 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
distance += turn_penalty; distance += turn_penalty;
BOOST_ASSERT(m_compressed_edge_container.HasEntryForID(edge_form_u)); BOOST_ASSERT(m_compressed_edge_container.HasEntryForID(edge_from_u));
original_edge_data_vector.emplace_back( original_edge_data_vector.emplace_back(
m_compressed_edge_container.GetPositionForID(edge_form_u), edge_data1.name_id, m_compressed_edge_container.GetPositionForID(edge_from_u), edge_data1.name_id,
turn_instruction, edge_data1.travel_mode); turn_instruction, edge_data1.travel_mode);
++original_edges_counter; ++original_edges_counter;
@ -502,7 +442,7 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
edge_penalty_file.write(reinterpret_cast<const char *>(&fixed_penalty), edge_penalty_file.write(reinterpret_cast<const char *>(&fixed_penalty),
sizeof(fixed_penalty)); sizeof(fixed_penalty));
const auto node_based_edges = const auto node_based_edges =
m_compressed_edge_container.GetBucketReference(edge_form_u); m_compressed_edge_container.GetBucketReference(edge_from_u);
NodeID previous = node_u; NodeID previous = node_u;
const unsigned node_count = node_based_edges.size() + 1; const unsigned node_count = node_based_edges.size() + 1;
@ -571,673 +511,6 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
<< " turns over barriers"; << " turns over barriers";
} }
std::vector<EdgeBasedGraphFactory::TurnCandidate>
EdgeBasedGraphFactory::optimizeRamps(const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates) const
{
EdgeID continue_eid = SPECIAL_EDGEID;
double continue_angle = 0;
const auto &in_edge_data = m_node_based_graph->GetEdgeData(via_edge);
for (auto &candidate : turn_candidates)
{
if (candidate.instruction.direction_modifier == DirectionModifier::UTurn)
continue;
const auto &out_edge_data = m_node_based_graph->GetEdgeData(candidate.eid);
if (out_edge_data.name_id == in_edge_data.name_id)
{
continue_eid = candidate.eid;
continue_angle = candidate.angle;
if (angularDeviation(candidate.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE &&
isRampClass(in_edge_data.road_classification.road_class))
candidate.instruction = TurnType::Suppressed;
break;
}
}
if (continue_eid != SPECIAL_EDGEID)
{
bool to_the_right = true;
for (auto &candidate : turn_candidates)
{
if (candidate.eid == continue_eid)
{
to_the_right = false;
continue;
}
if (candidate.instruction.type != TurnType::Ramp)
continue;
if (isSlightModifier(candidate.instruction.direction_modifier))
candidate.instruction.direction_modifier =
(to_the_right) ? DirectionModifier::SlightRight : DirectionModifier::SlightLeft;
}
}
return turn_candidates;
}
TurnType
EdgeBasedGraphFactory::checkForkAndEnd(const EdgeID via_eid,
const std::vector<TurnCandidate> &turn_candidates) const
{
if (turn_candidates.size() != 3 ||
turn_candidates.front().instruction.direction_modifier != DirectionModifier::UTurn)
return TurnType::Invalid;
if (isOnRoundabout(turn_candidates[1].instruction))
{
BOOST_ASSERT(isOnRoundabout(turn_candidates[2].instruction));
return TurnType::Invalid;
}
BOOST_ASSERT(!isOnRoundabout(turn_candidates[2].instruction));
FunctionalRoadClass road_classes[3] = {
m_node_based_graph->GetEdgeData(via_eid).road_classification.road_class,
m_node_based_graph->GetEdgeData(turn_candidates[1].eid).road_classification.road_class,
m_node_based_graph->GetEdgeData(turn_candidates[2].eid).road_classification.road_class};
if (angularDeviation(turn_candidates[1].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE &&
angularDeviation(turn_candidates[2].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE)
{
if (road_classes[0] != road_classes[1] || road_classes[1] != road_classes[2])
return TurnType::Invalid;
if (turn_candidates[1].valid && turn_candidates[2].valid)
return TurnType::Fork;
}
else if (angularDeviation(turn_candidates[1].angle, 90) < NARROW_TURN_ANGLE &&
angularDeviation(turn_candidates[2].angle, 270) < NARROW_TURN_ANGLE)
{
return TurnType::EndOfRoad;
}
return TurnType::Invalid;
}
std::vector<EdgeBasedGraphFactory::TurnCandidate>
EdgeBasedGraphFactory::handleForkAndEnd(const TurnType type,
std::vector<TurnCandidate> turn_candidates) const
{
turn_candidates[1].instruction.type = type;
turn_candidates[1].instruction.direction_modifier =
(type == TurnType::Fork) ? DirectionModifier::SlightRight : DirectionModifier::Right;
turn_candidates[2].instruction.type = type;
turn_candidates[2].instruction.direction_modifier =
(type == TurnType::Fork) ? DirectionModifier::SlightLeft : DirectionModifier::Left;
return turn_candidates;
}
// requires sorted candidates
std::vector<EdgeBasedGraphFactory::TurnCandidate>
EdgeBasedGraphFactory::optimizeCandidates(const EdgeID via_eid,
std::vector<TurnCandidate> turn_candidates) const
{
BOOST_ASSERT_MSG(std::is_sorted(turn_candidates.begin(), turn_candidates.end(),
[](const TurnCandidate &left, const TurnCandidate &right)
{
return left.angle < right.angle;
}),
"Turn Candidates not sorted by angle.");
if (turn_candidates.size() <= 1)
return turn_candidates;
TurnType type = checkForkAndEnd(via_eid, turn_candidates);
if (type != TurnType::Invalid)
return handleForkAndEnd(type, std::move(turn_candidates));
turn_candidates = optimizeRamps(via_eid, std::move(turn_candidates));
const auto getLeft = [&turn_candidates](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&turn_candidates](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
// handle availability of multiple u-turns (e.g. street with separated small parking roads)
if (isUturn(turn_candidates[0].instruction) && turn_candidates[0].angle == 0)
{
if (isUturn(turn_candidates[getLeft(0)].instruction))
turn_candidates[getLeft(0)].instruction.direction_modifier =
DirectionModifier::SharpLeft;
if (isUturn(turn_candidates[getRight(0)].instruction))
turn_candidates[getRight(0)].instruction.direction_modifier =
DirectionModifier::SharpRight;
}
const auto keepStraight = [](double angle)
{
return std::abs(angle - 180) < 5;
};
for (std::size_t turn_index = 0; turn_index < turn_candidates.size(); ++turn_index)
{
auto &turn = turn_candidates[turn_index];
if (!isBasic(turn.instruction.type) || isUturn(turn.instruction) ||
isOnRoundabout(turn.instruction))
continue;
auto &left = turn_candidates[getLeft(turn_index)];
if (turn.angle == left.angle)
{
util::SimpleLogger().Write(logDEBUG)
<< "[warning] conflicting turn angles, identical road duplicated? "
<< m_node_info_list[m_node_based_graph->GetTarget(via_eid)].lat << " "
<< m_node_info_list[m_node_based_graph->GetTarget(via_eid)].lon << std::endl;
}
if (isConflict(turn.instruction, left.instruction))
{
// begin of a conflicting region
std::size_t conflict_begin = turn_index;
std::size_t conflict_end = getLeft(turn_index);
std::size_t conflict_size = 2;
while (
isConflict(turn_candidates[getLeft(conflict_end)].instruction, turn.instruction) &&
conflict_size < turn_candidates.size())
{
conflict_end = getLeft(conflict_end);
++conflict_size;
}
turn_index = (conflict_end < conflict_begin) ? turn_candidates.size() : conflict_end;
if (conflict_size > 3)
{
// check if some turns are invalid to find out about good handling
}
auto &instruction_left_of_end = turn_candidates[getLeft(conflict_end)].instruction;
auto &instruction_right_of_begin =
turn_candidates[getRight(conflict_begin)].instruction;
auto &candidate_at_end = turn_candidates[conflict_end];
auto &candidate_at_begin = turn_candidates[conflict_begin];
if (conflict_size == 2)
{
if (turn.instruction.direction_modifier == DirectionModifier::Straight)
{
if (instruction_left_of_end.direction_modifier !=
DirectionModifier::SlightLeft &&
instruction_right_of_begin.direction_modifier !=
DirectionModifier::SlightRight)
{
std::int32_t resolved_count = 0;
// uses side-effects in resolve
if (!keepStraight(candidate_at_end.angle) &&
!resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
util::SimpleLogger().Write(logDEBUG)
<< "[warning] failed to resolve conflict";
else
++resolved_count;
// uses side-effects in resolve
if (!keepStraight(candidate_at_begin.angle) &&
!resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
util::SimpleLogger().Write(logDEBUG)
<< "[warning] failed to resolve conflict";
else
++resolved_count;
if (resolved_count >= 1 &&
(!keepStraight(candidate_at_begin.angle) ||
!keepStraight(candidate_at_end.angle))) // should always be the
// case, theoretically
continue;
}
}
if (candidate_at_begin.confidence < candidate_at_end.confidence)
{ // if right shift is cheaper, or only option
if (resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
continue;
else if (resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
continue;
}
else
{
if (resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
continue;
else if (resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
continue;
}
if (isSlightTurn(turn.instruction) || isSharpTurn(turn.instruction))
{
auto resolve_direction =
(turn.instruction.direction_modifier == DirectionModifier::SlightRight ||
turn.instruction.direction_modifier == DirectionModifier::SharpLeft)
? RESOLVE_TO_RIGHT
: RESOLVE_TO_LEFT;
if (resolve_direction == RESOLVE_TO_RIGHT &&
resolveTransitive(
candidate_at_begin.instruction, instruction_right_of_begin,
turn_candidates[getRight(getRight(conflict_begin))].instruction,
RESOLVE_TO_RIGHT))
continue;
else if (resolve_direction == RESOLVE_TO_LEFT &&
resolveTransitive(
candidate_at_end.instruction, instruction_left_of_end,
turn_candidates[getLeft(getLeft(conflict_end))].instruction,
RESOLVE_TO_LEFT))
continue;
}
}
else if (conflict_size >= 3)
{
// a conflict of size larger than three cannot be handled with the current
// model.
// Handle it as best as possible and keep the rest of the conflicting turns
if (conflict_size > 3)
{
NodeID conflict_location = m_node_based_graph->GetTarget(via_eid);
util::SimpleLogger().Write(logDEBUG)
<< "[warning] found conflict larget than size three at "
<< m_node_info_list[conflict_location].lat << ", "
<< m_node_info_list[conflict_location].lon;
}
if (!resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
{
if (isSlightTurn(turn.instruction))
resolveTransitive(
candidate_at_begin.instruction, instruction_right_of_begin,
turn_candidates[getRight(getRight(conflict_begin))].instruction,
RESOLVE_TO_RIGHT);
else if (isSharpTurn(turn.instruction))
resolveTransitive(
candidate_at_end.instruction, instruction_left_of_end,
turn_candidates[getLeft(getLeft(conflict_end))].instruction,
RESOLVE_TO_LEFT);
}
if (!resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
{
if (isSlightTurn(turn.instruction))
resolveTransitive(
candidate_at_end.instruction, instruction_left_of_end,
turn_candidates[getLeft(getLeft(conflict_end))].instruction,
RESOLVE_TO_LEFT);
else if (isSharpTurn(turn.instruction))
resolveTransitive(
candidate_at_begin.instruction, instruction_right_of_begin,
turn_candidates[getRight(getRight(conflict_begin))].instruction,
RESOLVE_TO_RIGHT);
}
}
}
}
return turn_candidates;
}
bool EdgeBasedGraphFactory::isObviousChoice(const EdgeID via_eid,
const std::size_t turn_index,
const std::vector<TurnCandidate> &turn_candidates) const
{
const auto getLeft = [&turn_candidates](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&turn_candidates](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
const auto &candidate = turn_candidates[turn_index];
const EdgeData &in_data = m_node_based_graph->GetEdgeData(via_eid);
const EdgeData &out_data = m_node_based_graph->GetEdgeData(candidate.eid);
const auto &candidate_to_the_left = turn_candidates[getLeft(turn_index)];
const auto &candidate_to_the_right = turn_candidates[getRight(turn_index)];
const auto hasValidRatio = [this](const TurnCandidate &left, const TurnCandidate &center,
const TurnCandidate &right)
{
auto angle_left = (left.angle > 180) ? angularDeviation(left.angle, STRAIGHT_ANGLE) : 180;
auto angle_right =
(right.angle < 180) ? angularDeviation(right.angle, STRAIGHT_ANGLE) : 180;
auto self_angle = angularDeviation(center.angle, STRAIGHT_ANGLE);
return angularDeviation(center.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE &&
((center.angle < STRAIGHT_ANGLE)
? (angle_right > self_angle && angle_left / self_angle > DISTINCTION_RATIO)
: (angle_left > self_angle && angle_right / self_angle > DISTINCTION_RATIO));
};
// only valid turn
if (!isLowPriorityRoadClass(
m_node_based_graph->GetEdgeData(candidate.eid).road_classification.road_class))
{
bool is_only_normal_road = true;
BOOST_ASSERT(turn_candidates[0].instruction.type == TurnType::Turn &&
turn_candidates[0].instruction.direction_modifier == DirectionModifier::UTurn);
for (size_t i = 0; i < turn_candidates.size(); ++i)
{
if (i == turn_index || turn_candidates[i].angle == 0) // skip self and u-turn
continue;
if (!isLowPriorityRoadClass(m_node_based_graph->GetEdgeData(turn_candidates[i].eid)
.road_classification.road_class))
{
is_only_normal_road = false;
break;
}
}
if (is_only_normal_road == true)
return true;
}
return turn_candidates.size() == 1 ||
// only non u-turn
(turn_candidates.size() == 2 &&
isUturn(candidate_to_the_left.instruction)) || // nearly straight turn
angularDeviation(candidate.angle, STRAIGHT_ANGLE) < MAXIMAL_ALLOWED_NO_TURN_DEVIATION ||
hasValidRatio(candidate_to_the_left, candidate, candidate_to_the_right) ||
(in_data.name_id != 0 && in_data.name_id == out_data.name_id &&
angularDeviation(candidate.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE / 2);
}
std::vector<EdgeBasedGraphFactory::TurnCandidate>
EdgeBasedGraphFactory::suppressTurns(const EdgeID via_eid,
std::vector<TurnCandidate> turn_candidates) const
{
if (turn_candidates.size() == 3)
{
BOOST_ASSERT(turn_candidates[0].instruction.direction_modifier == DirectionModifier::UTurn);
if (isLowPriorityRoadClass(m_node_based_graph->GetEdgeData(turn_candidates[1].eid)
.road_classification.road_class) &&
!isLowPriorityRoadClass(m_node_based_graph->GetEdgeData(turn_candidates[2].eid)
.road_classification.road_class))
{
if (angularDeviation(turn_candidates[2].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE)
{
if (m_node_based_graph->GetEdgeData(turn_candidates[2].eid).name_id ==
m_node_based_graph->GetEdgeData(via_eid).name_id)
{
turn_candidates[2].instruction = TurnInstruction::NO_TURN();
}
else
{
turn_candidates[2].instruction.type = TurnType::NewName;
}
return turn_candidates;
}
}
else if (isLowPriorityRoadClass(m_node_based_graph->GetEdgeData(turn_candidates[2].eid)
.road_classification.road_class) &&
!isLowPriorityRoadClass(m_node_based_graph->GetEdgeData(turn_candidates[1].eid)
.road_classification.road_class))
{
if (angularDeviation(turn_candidates[1].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE)
{
if (m_node_based_graph->GetEdgeData(turn_candidates[1].eid).name_id ==
m_node_based_graph->GetEdgeData(via_eid).name_id)
{
turn_candidates[1].instruction = TurnInstruction::NO_TURN();
}
else
{
turn_candidates[1].instruction.type = TurnType::NewName;
}
return turn_candidates;
}
}
}
BOOST_ASSERT_MSG(std::is_sorted(turn_candidates.begin(), turn_candidates.end(),
[](const TurnCandidate &left, const TurnCandidate &right)
{
return left.angle < right.angle;
}),
"Turn Candidates not sorted by angle.");
const auto getLeft = [&turn_candidates](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&turn_candidates](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
const EdgeData &in_data = m_node_based_graph->GetEdgeData(via_eid);
bool has_obvious_with_same_name = false;
double obvious_with_same_name_angle = 0;
for (std::size_t turn_index = 0; turn_index < turn_candidates.size(); ++turn_index)
{
if (m_node_based_graph->GetEdgeData(turn_candidates[turn_index].eid).name_id ==
in_data.name_id &&
isObviousChoice(via_eid, turn_index, turn_candidates))
{
has_obvious_with_same_name = true;
obvious_with_same_name_angle = turn_candidates[turn_index].angle;
break;
}
}
for (std::size_t turn_index = 0; turn_index < turn_candidates.size(); ++turn_index)
{
auto &candidate = turn_candidates[turn_index];
if (!isBasic(candidate.instruction.type))
continue;
const EdgeData &out_data = m_node_based_graph->GetEdgeData(candidate.eid);
if (out_data.name_id == in_data.name_id && in_data.name_id != 0 &&
candidate.instruction.direction_modifier != DirectionModifier::UTurn &&
!has_obvious_with_same_name)
{
candidate.instruction.type = TurnType::Continue;
}
if (candidate.valid && !isUturn(candidate.instruction))
{
// TODO road category would be useful to indicate obviousness of turn
// check if turn can be omitted or at least changed
const auto &left = turn_candidates[getLeft(turn_index)];
const auto &right = turn_candidates[getRight(turn_index)];
// make very slight instructions straight, if they are the only valid choice going
// with
// at most a slight turn
if ((!isSlightModifier(getTurnDirection(left.angle)) || !left.valid) &&
(!isSlightModifier(getTurnDirection(right.angle)) || !right.valid) &&
angularDeviation(candidate.angle, STRAIGHT_ANGLE) < FUZZY_STRAIGHT_ANGLE)
candidate.instruction.direction_modifier = DirectionModifier::Straight;
// TODO this smaller comparison for turns is DANGEROUS, has to be revised if turn
// instructions change
if (in_data.travel_mode ==
out_data.travel_mode) // make sure to always announce mode changes
{
if (isObviousChoice(via_eid, turn_index, turn_candidates))
{
if (in_data.name_id == out_data.name_id) // same road
{
candidate.instruction.type = TurnType::Suppressed;
}
else if (!has_obvious_with_same_name)
{
// TODO discuss, we might want to keep the current name of the turn. But
// this would mean emitting a turn when you just keep on a road
if (isRampClass(in_data.road_classification.road_class) &&
!isRampClass(out_data.road_classification.road_class))
{
candidate.instruction.type = TurnType::Merge;
candidate.instruction.direction_modifier =
mirrorDirectionModifier(candidate.instruction.direction_modifier);
}
else
{
if (engine::guidance::canBeSuppressed(candidate.instruction.type))
candidate.instruction.type = TurnType::NewName;
}
}
else if (candidate.angle < obvious_with_same_name_angle)
candidate.instruction.direction_modifier = DirectionModifier::SlightRight;
else
candidate.instruction.direction_modifier = DirectionModifier::SlightLeft;
}
else if (candidate.instruction.direction_modifier == DirectionModifier::Straight &&
has_obvious_with_same_name)
{
if (candidate.angle < obvious_with_same_name_angle)
candidate.instruction.direction_modifier = DirectionModifier::SlightRight;
else
candidate.instruction.direction_modifier = DirectionModifier::SlightLeft;
}
}
}
}
return turn_candidates;
}
std::vector<EdgeBasedGraphFactory::TurnCandidate>
EdgeBasedGraphFactory::getTurnCandidates(const NodeID from_node, const EdgeID via_eid)
{
std::vector<TurnCandidate> turn_candidates;
const NodeID turn_node = m_node_based_graph->GetTarget(via_eid);
const NodeID only_restriction_to_node =
m_restriction_map->CheckForEmanatingIsOnlyTurn(from_node, turn_node);
const bool is_barrier_node = m_barrier_nodes.find(turn_node) != m_barrier_nodes.end();
bool has_non_roundabout = false, has_roundabout_entry;
for (const EdgeID onto_edge : m_node_based_graph->GetAdjacentEdgeRange(turn_node))
{
bool turn_is_valid = true;
if (m_node_based_graph->GetEdgeData(onto_edge).reversed)
{
turn_is_valid = false;
}
const NodeID to_node = m_node_based_graph->GetTarget(onto_edge);
if (turn_is_valid && (only_restriction_to_node != SPECIAL_NODEID) &&
(to_node != only_restriction_to_node))
{
// We are at an only_-restriction but not at the right turn.
++restricted_turns_counter;
turn_is_valid = false;
}
if (turn_is_valid)
{
if (is_barrier_node)
{
if (from_node != to_node)
{
++skipped_barrier_turns_counter;
turn_is_valid = false;
}
}
else
{
if (from_node == to_node && m_node_based_graph->GetOutDegree(turn_node) > 1)
{
auto number_of_emmiting_bidirectional_edges = 0;
for (auto edge : m_node_based_graph->GetAdjacentEdgeRange(turn_node))
{
auto target = m_node_based_graph->GetTarget(edge);
auto reverse_edge = m_node_based_graph->FindEdge(target, turn_node);
if (!m_node_based_graph->GetEdgeData(reverse_edge).reversed)
{
++number_of_emmiting_bidirectional_edges;
}
}
if (number_of_emmiting_bidirectional_edges > 1)
{
++skipped_uturns_counter;
turn_is_valid = false;
}
}
}
}
// only add an edge if turn is not a U-turn except when it is
// at the end of a dead-end street
if (m_restriction_map->CheckIfTurnIsRestricted(from_node, turn_node, to_node) &&
(only_restriction_to_node == SPECIAL_NODEID) && (to_node != only_restriction_to_node))
{
// We are at an only_-restriction but not at the right turn.
++restricted_turns_counter;
turn_is_valid = false;
}
// unpack first node of second segment if packed
const auto first_coordinate = getRepresentativeCoordinate(
from_node, turn_node, via_eid, INVERT, m_compressed_edge_container, m_node_info_list);
const auto third_coordinate = getRepresentativeCoordinate(
turn_node, to_node, onto_edge, !INVERT, m_compressed_edge_container, m_node_info_list);
const auto angle = util::coordinate_calculation::computeAngle(
first_coordinate, m_node_info_list[turn_node], third_coordinate);
const auto turn = AnalyzeTurn(from_node, via_eid, turn_node, onto_edge, to_node, angle);
if (turn_is_valid && !entersRoundabout(turn))
has_non_roundabout = true;
else if (turn_is_valid)
has_roundabout_entry = true;
auto confidence = getTurnConfidence(angle, turn);
if (!turn_is_valid)
confidence *= 0.8; // makes invalid turns more likely to be resolved in conflicts
turn_candidates.push_back({onto_edge, turn_is_valid, angle, turn, confidence});
}
if (has_non_roundabout && has_roundabout_entry)
{
for (auto &candidate : turn_candidates)
{
if (entersRoundabout(candidate.instruction))
{
if (candidate.instruction.type == TurnType::EnterRotary)
candidate.instruction.type = TurnType::EnterRotaryAtExit;
if (candidate.instruction.type == TurnType::EnterRoundabout)
candidate.instruction.type = TurnType::EnterRoundaboutAtExit;
}
}
}
const auto ByAngle = [](const TurnCandidate &first, const TurnCandidate second)
{
return first.angle < second.angle;
};
std::sort(std::begin(turn_candidates), std::end(turn_candidates), ByAngle);
const auto getLeft = [&](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
const auto isInvalidEquivalent = [&](std::size_t this_turn, std::size_t valid_turn)
{
if (!turn_candidates[valid_turn].valid || turn_candidates[this_turn].valid)
return false;
return angularDeviation(turn_candidates[this_turn].angle,
turn_candidates[valid_turn].angle) < NARROW_TURN_ANGLE;
};
for (std::size_t index = 0; index < turn_candidates.size(); ++index)
{
if (isInvalidEquivalent(index, getRight(index)) ||
isInvalidEquivalent(index, getLeft(index)))
{
turn_candidates.erase(turn_candidates.begin() + index);
--index;
}
}
return turn_candidates;
}
int EdgeBasedGraphFactory::GetTurnPenalty(double angle, lua_State *lua_state) const int EdgeBasedGraphFactory::GetTurnPenalty(double angle, lua_State *lua_state) const
{ {
@ -1258,58 +531,5 @@ int EdgeBasedGraphFactory::GetTurnPenalty(double angle, lua_State *lua_state) co
return 0; return 0;
} }
// node_u -- (edge_1) --> node_v -- (edge_2) --> node_w
TurnInstruction EdgeBasedGraphFactory::AnalyzeTurn(const NodeID node_u,
const EdgeID edge1,
const NodeID node_v,
const EdgeID edge2,
const NodeID node_w,
const double angle) const
{
const EdgeData &data1 = m_node_based_graph->GetEdgeData(edge1);
const EdgeData &data2 = m_node_based_graph->GetEdgeData(edge2);
bool from_ramp = isRampClass(data1.road_classification.road_class);
bool to_ramp = isRampClass(data2.road_classification.road_class);
if (node_u == node_w)
{
return {TurnType::Turn, DirectionModifier::UTurn};
}
// roundabouts need to be handled explicitely
if (data1.roundabout && data2.roundabout)
{
// Is a turn possible? If yes, we stay on the roundabout!
if (1 == m_node_based_graph->GetDirectedOutDegree(node_v))
{
// No turn possible.
return TurnInstruction::NO_TURN();
}
return TurnInstruction::REMAIN_ROUNDABOUT(getTurnDirection(angle));
}
// Does turn start or end on roundabout?
if (data1.roundabout || data2.roundabout)
{
// We are entering the roundabout
if ((!data1.roundabout) && data2.roundabout)
{
return TurnInstruction::ENTER_ROUNDABOUT(getTurnDirection(angle));
}
// We are leaving the roundabout
if (data1.roundabout && (!data2.roundabout))
{
return TurnInstruction::EXIT_ROUNDABOUT(getTurnDirection(angle));
}
}
if (!from_ramp && to_ramp)
{
return {TurnType::Ramp, getTurnDirection(angle)};
}
// assign a designated turn angle instruction purely based on the angle
return {TurnType::Turn, getTurnDirection(angle)};
}
} // namespace extractor } // namespace extractor
} // namespace osrm } // namespace osrm

844
src/extractor/turn_analysis.cpp Normal file
View File

@ -0,0 +1,844 @@
#include "extractor/turn_analysis.hpp"
namespace osrm
{
namespace extractor
{
namespace turn_analysis
{
// configuration of turn classification
const bool constexpr INVERT = true;
const bool constexpr RESOLVE_TO_RIGHT = true;
const bool constexpr RESOLVE_TO_LEFT = false;
// what angle is interpreted as going straight
const double constexpr STRAIGHT_ANGLE = 180.;
// if a turn deviates this much from going straight, it will be kept straight
const double constexpr MAXIMAL_ALLOWED_NO_TURN_DEVIATION = 2.;
// angle that lies between two nearly indistinguishable roads
const double constexpr NARROW_TURN_ANGLE = 35.;
// angle difference that can be classified as straight, if its the only narrow turn
const double constexpr FUZZY_STRAIGHT_ANGLE = 15.;
const double constexpr DISTINCTION_RATIO = 2;
using EdgeData = util::NodeBasedDynamicGraph::EdgeData;
using engine::guidance::TurnPossibility;
using engine::guidance::TurnInstruction;
using engine::guidance::DirectionModifier;
using engine::guidance::TurnType;
using engine::guidance::FunctionalRoadClass;
using engine::guidance::classifyIntersection;
using engine::guidance::isLowPriorityRoadClass;
using engine::guidance::angularDeviation;
using engine::guidance::getTurnDirection;
using engine::guidance::getRepresentativeCoordinate;
using engine::guidance::isBasic;
using engine::guidance::isRampClass;
using engine::guidance::isUturn;
using engine::guidance::isConflict;
using engine::guidance::isSlightTurn;
using engine::guidance::isSlightModifier;
using engine::guidance::mirrorDirectionModifier;
std::vector<TurnCandidate>
getTurns(const NodeID from,
const EdgeID via_edge,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph,
const std::vector<QueryNode> &node_info_list,
const std::shared_ptr<RestrictionMap const> restriction_map,
const std::unordered_set<NodeID> &barrier_nodes,
const CompressedEdgeContainer &compressed_edge_container)
{
auto turn_candidates = turn_analysis::getTurnCandidates(
from, via_edge, node_based_graph, node_info_list, restriction_map, barrier_nodes,
compressed_edge_container);
turn_candidates =
turn_analysis::setTurnTypes(from, via_edge, std::move(turn_candidates), node_based_graph);
#define PRINT_DEBUG_CANDIDATES 0
#if PRINT_DEBUG_CANDIDATES
std::cout << "Initial Candidates:\n";
for (auto tc : turn_candidates)
std::cout << "\t" << tc.toString() << " "
<< (int)node_based_graph->GetEdgeData(tc.eid).road_classification.road_class
<< std::endl;
#endif
turn_candidates = turn_analysis::optimizeCandidates(via_edge, std::move(turn_candidates),
node_based_graph, node_info_list);
#if PRINT_DEBUG_CANDIDATES
std::cout << "Optimized Candidates:\n";
for (auto tc : turn_candidates)
std::cout << "\t" << tc.toString() << " "
<< (int)node_based_graph->GetEdgeData(tc.eid).road_classification.road_class
<< std::endl;
#endif
turn_candidates =
turn_analysis::suppressTurns(via_edge, std::move(turn_candidates), node_based_graph);
#if PRINT_DEBUG_CANDIDATES
std::cout << "Suppressed Candidates:\n";
for (auto tc : turn_candidates)
std::cout << "\t" << tc.toString() << " "
<< (int)node_based_graph->GetEdgeData(tc.eid).road_classification.road_class
<< std::endl;
#endif
return turn_candidates;
}
std::vector<TurnCandidate>
setTurnTypes(const NodeID from,
const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph)
{
NodeID turn_node = node_based_graph->GetTarget(via_edge);
bool has_non_roundabout = false, has_roundabout_entry = false;
for (auto &candidate : turn_candidates)
{
const EdgeID onto_edge = candidate.eid;
const NodeID to_node = node_based_graph->GetTarget(onto_edge);
const auto turn = AnalyzeTurn(from, via_edge, turn_node, onto_edge, to_node,
candidate.angle, node_based_graph);
if (candidate.valid && !entersRoundabout(turn))
has_non_roundabout = true;
else if (candidate.valid)
has_roundabout_entry = true;
auto confidence = getTurnConfidence(candidate.angle, turn);
if (!candidate.valid)
confidence *= 0.8; // makes invalid turns more likely to be resolved in conflicts
candidate.instruction = turn;
candidate.confidence = confidence;
}
if (has_non_roundabout && has_roundabout_entry)
{
for (auto &candidate : turn_candidates)
{
if (entersRoundabout(candidate.instruction))
{
if (candidate.instruction.type == TurnType::EnterRotary)
candidate.instruction.type = TurnType::EnterRotaryAtExit;
if (candidate.instruction.type == TurnType::EnterRoundabout)
candidate.instruction.type = TurnType::EnterRoundaboutAtExit;
}
}
}
return turn_candidates;
}
std::vector<TurnCandidate>
optimizeRamps(const EdgeID via_edge,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph)
{
EdgeID continue_eid = SPECIAL_EDGEID;
double continue_angle = 0;
const auto &in_edge_data = node_based_graph->GetEdgeData(via_edge);
for (auto &candidate : turn_candidates)
{
if (candidate.instruction.direction_modifier == DirectionModifier::UTurn)
continue;
const auto &out_edge_data = node_based_graph->GetEdgeData(candidate.eid);
if (out_edge_data.name_id == in_edge_data.name_id)
{
continue_eid = candidate.eid;
continue_angle = candidate.angle;
if (angularDeviation(candidate.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE &&
isRampClass(in_edge_data.road_classification.road_class))
candidate.instruction = TurnType::Suppressed;
break;
}
}
if (continue_eid != SPECIAL_EDGEID)
{
bool to_the_right = true;
for (auto &candidate : turn_candidates)
{
if (candidate.eid == continue_eid)
{
to_the_right = false;
continue;
}
if (candidate.instruction.type != TurnType::Ramp)
continue;
if (isSlightModifier(candidate.instruction.direction_modifier))
candidate.instruction.direction_modifier =
(to_the_right) ? DirectionModifier::SlightRight : DirectionModifier::SlightLeft;
}
}
return turn_candidates;
}
TurnType checkForkAndEnd(const EdgeID via_eid,
const std::vector<TurnCandidate> &turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph)
{
if (turn_candidates.size() != 3 ||
turn_candidates.front().instruction.direction_modifier != DirectionModifier::UTurn)
return TurnType::Invalid;
if (isOnRoundabout(turn_candidates[1].instruction))
{
BOOST_ASSERT(isOnRoundabout(turn_candidates[2].instruction));
return TurnType::Invalid;
}
BOOST_ASSERT(!isOnRoundabout(turn_candidates[2].instruction));
FunctionalRoadClass road_classes[3] = {
node_based_graph->GetEdgeData(via_eid).road_classification.road_class,
node_based_graph->GetEdgeData(turn_candidates[1].eid).road_classification.road_class,
node_based_graph->GetEdgeData(turn_candidates[2].eid).road_classification.road_class};
if (angularDeviation(turn_candidates[1].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE &&
angularDeviation(turn_candidates[2].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE)
{
if (road_classes[0] != road_classes[1] || road_classes[1] != road_classes[2])
return TurnType::Invalid;
if (turn_candidates[1].valid && turn_candidates[2].valid)
return TurnType::Fork;
}
else if (angularDeviation(turn_candidates[1].angle, 90) < NARROW_TURN_ANGLE &&
angularDeviation(turn_candidates[2].angle, 270) < NARROW_TURN_ANGLE)
{
return TurnType::EndOfRoad;
}
return TurnType::Invalid;
}
std::vector<TurnCandidate> handleForkAndEnd(const TurnType type,
std::vector<TurnCandidate> turn_candidates)
{
turn_candidates[1].instruction.type = type;
turn_candidates[1].instruction.direction_modifier =
(type == TurnType::Fork) ? DirectionModifier::SlightRight : DirectionModifier::Right;
turn_candidates[2].instruction.type = type;
turn_candidates[2].instruction.direction_modifier =
(type == TurnType::Fork) ? DirectionModifier::SlightLeft : DirectionModifier::Left;
return turn_candidates;
}
// requires sorted candidates
std::vector<TurnCandidate>
optimizeCandidates(const EdgeID via_eid,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph,
const std::vector<QueryNode> &node_info_list)
{
BOOST_ASSERT_MSG(std::is_sorted(turn_candidates.begin(), turn_candidates.end(),
[](const TurnCandidate &left, const TurnCandidate &right)
{
return left.angle < right.angle;
}),
"Turn Candidates not sorted by angle.");
if (turn_candidates.size() <= 1)
return turn_candidates;
TurnType type = checkForkAndEnd(via_eid, turn_candidates, node_based_graph);
if (type != TurnType::Invalid)
return handleForkAndEnd(type, std::move(turn_candidates));
turn_candidates = optimizeRamps(via_eid, std::move(turn_candidates), node_based_graph);
const auto getLeft = [&turn_candidates](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&turn_candidates](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
// handle availability of multiple u-turns (e.g. street with separated small parking roads)
if (isUturn(turn_candidates[0].instruction) && turn_candidates[0].angle == 0)
{
if (isUturn(turn_candidates[getLeft(0)].instruction))
turn_candidates[getLeft(0)].instruction.direction_modifier =
DirectionModifier::SharpLeft;
if (isUturn(turn_candidates[getRight(0)].instruction))
turn_candidates[getRight(0)].instruction.direction_modifier =
DirectionModifier::SharpRight;
}
const auto keepStraight = [](double angle)
{
return std::abs(angle - 180) < 5;
};
for (std::size_t turn_index = 0; turn_index < turn_candidates.size(); ++turn_index)
{
auto &turn = turn_candidates[turn_index];
if (!isBasic(turn.instruction.type) || isUturn(turn.instruction) ||
isOnRoundabout(turn.instruction))
continue;
auto &left = turn_candidates[getLeft(turn_index)];
if (turn.angle == left.angle)
{
util::SimpleLogger().Write(logDEBUG)
<< "[warning] conflicting turn angles, identical road duplicated? "
<< node_info_list[node_based_graph->GetTarget(via_eid)].lat << " "
<< node_info_list[node_based_graph->GetTarget(via_eid)].lon << std::endl;
}
if (isConflict(turn.instruction, left.instruction))
{
// begin of a conflicting region
std::size_t conflict_begin = turn_index;
std::size_t conflict_end = getLeft(turn_index);
std::size_t conflict_size = 2;
while (
isConflict(turn_candidates[getLeft(conflict_end)].instruction, turn.instruction) &&
conflict_size < turn_candidates.size())
{
conflict_end = getLeft(conflict_end);
++conflict_size;
}
turn_index = (conflict_end < conflict_begin) ? turn_candidates.size() : conflict_end;
if (conflict_size > 3)
{
// check if some turns are invalid to find out about good handling
}
auto &instruction_left_of_end = turn_candidates[getLeft(conflict_end)].instruction;
auto &instruction_right_of_begin =
turn_candidates[getRight(conflict_begin)].instruction;
auto &candidate_at_end = turn_candidates[conflict_end];
auto &candidate_at_begin = turn_candidates[conflict_begin];
if (conflict_size == 2)
{
if (turn.instruction.direction_modifier == DirectionModifier::Straight)
{
if (instruction_left_of_end.direction_modifier !=
DirectionModifier::SlightLeft &&
instruction_right_of_begin.direction_modifier !=
DirectionModifier::SlightRight)
{
std::int32_t resolved_count = 0;
// uses side-effects in resolve
if (!keepStraight(candidate_at_end.angle) &&
!resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
util::SimpleLogger().Write(logDEBUG)
<< "[warning] failed to resolve conflict";
else
++resolved_count;
// uses side-effects in resolve
if (!keepStraight(candidate_at_begin.angle) &&
!resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
util::SimpleLogger().Write(logDEBUG)
<< "[warning] failed to resolve conflict";
else
++resolved_count;
if (resolved_count >= 1 &&
(!keepStraight(candidate_at_begin.angle) ||
!keepStraight(candidate_at_end.angle))) // should always be the
// case, theoretically
continue;
}
}
if (candidate_at_begin.confidence < candidate_at_end.confidence)
{ // if right shift is cheaper, or only option
if (resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
continue;
else if (resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
continue;
}
else
{
if (resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
continue;
else if (resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
continue;
}
if (isSlightTurn(turn.instruction) || isSharpTurn(turn.instruction))
{
auto resolve_direction =
(turn.instruction.direction_modifier == DirectionModifier::SlightRight ||
turn.instruction.direction_modifier == DirectionModifier::SharpLeft)
? RESOLVE_TO_RIGHT
: RESOLVE_TO_LEFT;
if (resolve_direction == RESOLVE_TO_RIGHT &&
resolveTransitive(
candidate_at_begin.instruction, instruction_right_of_begin,
turn_candidates[getRight(getRight(conflict_begin))].instruction,
RESOLVE_TO_RIGHT))
continue;
else if (resolve_direction == RESOLVE_TO_LEFT &&
resolveTransitive(
candidate_at_end.instruction, instruction_left_of_end,
turn_candidates[getLeft(getLeft(conflict_end))].instruction,
RESOLVE_TO_LEFT))
continue;
}
}
else if (conflict_size >= 3)
{
// a conflict of size larger than three cannot be handled with the current
// model.
// Handle it as best as possible and keep the rest of the conflicting turns
if (conflict_size > 3)
{
NodeID conflict_location = node_based_graph->GetTarget(via_eid);
util::SimpleLogger().Write(logDEBUG)
<< "[warning] found conflict larget than size three at "
<< node_info_list[conflict_location].lat << ", "
<< node_info_list[conflict_location].lon;
}
if (!resolve(candidate_at_begin.instruction, instruction_right_of_begin,
RESOLVE_TO_RIGHT))
{
if (isSlightTurn(turn.instruction))
resolveTransitive(
candidate_at_begin.instruction, instruction_right_of_begin,
turn_candidates[getRight(getRight(conflict_begin))].instruction,
RESOLVE_TO_RIGHT);
else if (isSharpTurn(turn.instruction))
resolveTransitive(
candidate_at_end.instruction, instruction_left_of_end,
turn_candidates[getLeft(getLeft(conflict_end))].instruction,
RESOLVE_TO_LEFT);
}
if (!resolve(candidate_at_end.instruction, instruction_left_of_end,
RESOLVE_TO_LEFT))
{
if (isSlightTurn(turn.instruction))
resolveTransitive(
candidate_at_end.instruction, instruction_left_of_end,
turn_candidates[getLeft(getLeft(conflict_end))].instruction,
RESOLVE_TO_LEFT);
else if (isSharpTurn(turn.instruction))
resolveTransitive(
candidate_at_begin.instruction, instruction_right_of_begin,
turn_candidates[getRight(getRight(conflict_begin))].instruction,
RESOLVE_TO_RIGHT);
}
}
}
}
return turn_candidates;
}
bool isObviousChoice(const EdgeID via_eid,
const std::size_t turn_index,
const std::vector<TurnCandidate> &turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph)
{
const auto getLeft = [&turn_candidates](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&turn_candidates](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
const auto &candidate = turn_candidates[turn_index];
const EdgeData &in_data = node_based_graph->GetEdgeData(via_eid);
const EdgeData &out_data = node_based_graph->GetEdgeData(candidate.eid);
const auto &candidate_to_the_left = turn_candidates[getLeft(turn_index)];
const auto &candidate_to_the_right = turn_candidates[getRight(turn_index)];
const auto hasValidRatio = [&](const TurnCandidate &left, const TurnCandidate &center,
const TurnCandidate &right)
{
auto angle_left = (left.angle > 180) ? angularDeviation(left.angle, STRAIGHT_ANGLE) : 180;
auto angle_right =
(right.angle < 180) ? angularDeviation(right.angle, STRAIGHT_ANGLE) : 180;
auto self_angle = angularDeviation(center.angle, STRAIGHT_ANGLE);
return angularDeviation(center.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE &&
((center.angle < STRAIGHT_ANGLE)
? (angle_right > self_angle && angle_left / self_angle > DISTINCTION_RATIO)
: (angle_left > self_angle && angle_right / self_angle > DISTINCTION_RATIO));
};
// only valid turn
if (!isLowPriorityRoadClass(
node_based_graph->GetEdgeData(candidate.eid).road_classification.road_class))
{
bool is_only_normal_road = true;
BOOST_ASSERT(turn_candidates[0].instruction.type == TurnType::Turn &&
turn_candidates[0].instruction.direction_modifier == DirectionModifier::UTurn);
for (size_t i = 0; i < turn_candidates.size(); ++i)
{
if (i == turn_index || turn_candidates[i].angle == 0) // skip self and u-turn
continue;
if (!isLowPriorityRoadClass(node_based_graph->GetEdgeData(turn_candidates[i].eid)
.road_classification.road_class))
{
is_only_normal_road = false;
break;
}
}
if (is_only_normal_road == true)
return true;
}
return turn_candidates.size() == 1 ||
// only non u-turn
(turn_candidates.size() == 2 &&
isUturn(candidate_to_the_left.instruction)) || // nearly straight turn
angularDeviation(candidate.angle, STRAIGHT_ANGLE) < MAXIMAL_ALLOWED_NO_TURN_DEVIATION ||
hasValidRatio(candidate_to_the_left, candidate, candidate_to_the_right) ||
(in_data.name_id != 0 && in_data.name_id == out_data.name_id &&
angularDeviation(candidate.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE / 2);
}
std::vector<TurnCandidate>
suppressTurns(const EdgeID via_eid,
std::vector<TurnCandidate> turn_candidates,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph)
{
if (turn_candidates.size() == 3)
{
BOOST_ASSERT(turn_candidates[0].instruction.direction_modifier ==
DirectionModifier::UTurn);
if (isLowPriorityRoadClass(node_based_graph->GetEdgeData(turn_candidates[1].eid)
.road_classification.road_class) &&
!isLowPriorityRoadClass(node_based_graph->GetEdgeData(turn_candidates[2].eid)
.road_classification.road_class))
{
if (angularDeviation(turn_candidates[2].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE)
{
if (node_based_graph->GetEdgeData(turn_candidates[2].eid).name_id ==
node_based_graph->GetEdgeData(via_eid).name_id)
{
turn_candidates[2].instruction = TurnInstruction::NO_TURN();
}
else
{
turn_candidates[2].instruction.type = TurnType::NewName;
}
return turn_candidates;
}
}
else if (isLowPriorityRoadClass(node_based_graph->GetEdgeData(turn_candidates[2].eid)
.road_classification.road_class) &&
!isLowPriorityRoadClass(node_based_graph->GetEdgeData(turn_candidates[1].eid)
.road_classification.road_class))
{
if (angularDeviation(turn_candidates[1].angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE)
{
if (node_based_graph->GetEdgeData(turn_candidates[1].eid).name_id ==
node_based_graph->GetEdgeData(via_eid).name_id)
{
turn_candidates[1].instruction = TurnInstruction::NO_TURN();
}
else
{
turn_candidates[1].instruction.type = TurnType::NewName;
}
return turn_candidates;
}
}
}
BOOST_ASSERT_MSG(std::is_sorted(turn_candidates.begin(), turn_candidates.end(),
[](const TurnCandidate &left, const TurnCandidate &right)
{
return left.angle < right.angle;
}),
"Turn Candidates not sorted by angle.");
const auto getLeft = [&turn_candidates](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&turn_candidates](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
const EdgeData &in_data = node_based_graph->GetEdgeData(via_eid);
bool has_obvious_with_same_name = false;
double obvious_with_same_name_angle = 0;
for (std::size_t turn_index = 0; turn_index < turn_candidates.size(); ++turn_index)
{
if (node_based_graph->GetEdgeData(turn_candidates[turn_index].eid).name_id ==
in_data.name_id &&
isObviousChoice(via_eid, turn_index, turn_candidates, node_based_graph))
{
has_obvious_with_same_name = true;
obvious_with_same_name_angle = turn_candidates[turn_index].angle;
break;
}
}
for (std::size_t turn_index = 0; turn_index < turn_candidates.size(); ++turn_index)
{
auto &candidate = turn_candidates[turn_index];
if (!isBasic(candidate.instruction.type))
continue;
const EdgeData &out_data = node_based_graph->GetEdgeData(candidate.eid);
if (out_data.name_id == in_data.name_id && in_data.name_id != 0 &&
candidate.instruction.direction_modifier != DirectionModifier::UTurn &&
!has_obvious_with_same_name)
{
candidate.instruction.type = TurnType::Continue;
}
if (candidate.valid && !isUturn(candidate.instruction))
{
// TODO road category would be useful to indicate obviousness of turn
// check if turn can be omitted or at least changed
const auto &left = turn_candidates[getLeft(turn_index)];
const auto &right = turn_candidates[getRight(turn_index)];
// make very slight instructions straight, if they are the only valid choice going
// with
// at most a slight turn
if ((!isSlightModifier(getTurnDirection(left.angle)) || !left.valid) &&
(!isSlightModifier(getTurnDirection(right.angle)) || !right.valid) &&
angularDeviation(candidate.angle, STRAIGHT_ANGLE) < FUZZY_STRAIGHT_ANGLE)
candidate.instruction.direction_modifier = DirectionModifier::Straight;
// TODO this smaller comparison for turns is DANGEROUS, has to be revised if turn
// instructions change
if (in_data.travel_mode ==
out_data.travel_mode) // make sure to always announce mode changes
{
if (isObviousChoice(via_eid, turn_index, turn_candidates, node_based_graph))
{
if (in_data.name_id == out_data.name_id) // same road
{
candidate.instruction.type = TurnType::Suppressed;
}
else if (!has_obvious_with_same_name)
{
// TODO discuss, we might want to keep the current name of the turn. But
// this would mean emitting a turn when you just keep on a road
if (isRampClass(in_data.road_classification.road_class) &&
!isRampClass(out_data.road_classification.road_class))
{
candidate.instruction.type = TurnType::Merge;
candidate.instruction.direction_modifier =
mirrorDirectionModifier(candidate.instruction.direction_modifier);
}
else
{
if (engine::guidance::canBeSuppressed(candidate.instruction.type))
candidate.instruction.type = TurnType::NewName;
}
}
else if (candidate.angle < obvious_with_same_name_angle)
candidate.instruction.direction_modifier = DirectionModifier::SlightRight;
else
candidate.instruction.direction_modifier = DirectionModifier::SlightLeft;
}
else if (candidate.instruction.direction_modifier == DirectionModifier::Straight &&
has_obvious_with_same_name)
{
if (candidate.angle < obvious_with_same_name_angle)
candidate.instruction.direction_modifier = DirectionModifier::SlightRight;
else
candidate.instruction.direction_modifier = DirectionModifier::SlightLeft;
}
}
}
}
return turn_candidates;
}
std::vector<TurnCandidate>
getTurnCandidates(const NodeID from_node,
const EdgeID via_eid,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph,
const std::vector<QueryNode> &node_info_list,
const std::shared_ptr<RestrictionMap const> restriction_map,
const std::unordered_set<NodeID> &barrier_nodes,
const CompressedEdgeContainer &compressed_edge_container)
{
std::vector<TurnCandidate> turn_candidates;
const NodeID turn_node = node_based_graph->GetTarget(via_eid);
const NodeID only_restriction_to_node =
restriction_map->CheckForEmanatingIsOnlyTurn(from_node, turn_node);
const bool is_barrier_node = barrier_nodes.find(turn_node) != barrier_nodes.end();
for (const EdgeID onto_edge : node_based_graph->GetAdjacentEdgeRange(turn_node))
{
bool turn_is_valid = true;
if (node_based_graph->GetEdgeData(onto_edge).reversed)
{
turn_is_valid = false;
}
const NodeID to_node = node_based_graph->GetTarget(onto_edge);
if (turn_is_valid && (only_restriction_to_node != SPECIAL_NODEID) &&
(to_node != only_restriction_to_node))
{
// We are at an only_-restriction but not at the right turn.
// ++restricted_turns_counter;
turn_is_valid = false;
}
if (turn_is_valid)
{
if (is_barrier_node)
{
if (from_node != to_node)
{
// ++skipped_barrier_turns_counter;
turn_is_valid = false;
}
}
else
{
if (from_node == to_node && node_based_graph->GetOutDegree(turn_node) > 1)
{
auto number_of_emmiting_bidirectional_edges = 0;
for (auto edge : node_based_graph->GetAdjacentEdgeRange(turn_node))
{
auto target = node_based_graph->GetTarget(edge);
auto reverse_edge = node_based_graph->FindEdge(target, turn_node);
if (!node_based_graph->GetEdgeData(reverse_edge).reversed)
{
++number_of_emmiting_bidirectional_edges;
}
}
if (number_of_emmiting_bidirectional_edges > 1)
{
// ++skipped_uturns_counter;
turn_is_valid = false;
}
}
}
}
// only add an edge if turn is not a U-turn except when it is
// at the end of a dead-end street
if (restriction_map->CheckIfTurnIsRestricted(from_node, turn_node, to_node) &&
(only_restriction_to_node == SPECIAL_NODEID) && (to_node != only_restriction_to_node))
{
// We are at an only_-restriction but not at the right turn.
// ++restricted_turns_counter;
turn_is_valid = false;
}
// unpack first node of second segment if packed
const auto first_coordinate = getRepresentativeCoordinate(
from_node, turn_node, via_eid, INVERT, compressed_edge_container, node_info_list);
const auto third_coordinate = getRepresentativeCoordinate(
turn_node, to_node, onto_edge, !INVERT, compressed_edge_container, node_info_list);
const auto angle = util::coordinate_calculation::computeAngle(
first_coordinate, node_info_list[turn_node], third_coordinate);
turn_candidates.push_back(
{onto_edge, turn_is_valid, angle, {TurnType::Invalid, DirectionModifier::UTurn}, 0});
}
const auto ByAngle = [](const TurnCandidate &first, const TurnCandidate second)
{
return first.angle < second.angle;
};
std::sort(std::begin(turn_candidates), std::end(turn_candidates), ByAngle);
const auto getLeft = [&](std::size_t index)
{
return (index + 1) % turn_candidates.size();
};
const auto getRight = [&](std::size_t index)
{
return (index + turn_candidates.size() - 1) % turn_candidates.size();
};
const auto isInvalidEquivalent = [&](std::size_t this_turn, std::size_t valid_turn)
{
if (!turn_candidates[valid_turn].valid || turn_candidates[this_turn].valid)
return false;
return angularDeviation(turn_candidates[this_turn].angle,
turn_candidates[valid_turn].angle) < NARROW_TURN_ANGLE;
};
for (std::size_t index = 0; index < turn_candidates.size(); ++index)
{
if (isInvalidEquivalent(index, getRight(index)) ||
isInvalidEquivalent(index, getLeft(index)))
{
turn_candidates.erase(turn_candidates.begin() + index);
--index;
}
}
return turn_candidates;
}
// node_u -- (edge_1) --> node_v -- (edge_2) --> node_w
TurnInstruction
AnalyzeTurn(const NodeID node_u,
const EdgeID edge1,
const NodeID node_v,
const EdgeID edge2,
const NodeID node_w,
const double angle,
const std::shared_ptr<const util::NodeBasedDynamicGraph> node_based_graph)
{
const EdgeData &data1 = node_based_graph->GetEdgeData(edge1);
const EdgeData &data2 = node_based_graph->GetEdgeData(edge2);
bool from_ramp = isRampClass(data1.road_classification.road_class);
bool to_ramp = isRampClass(data2.road_classification.road_class);
if (node_u == node_w)
{
return {TurnType::Turn, DirectionModifier::UTurn};
}
// roundabouts need to be handled explicitely
if (data1.roundabout && data2.roundabout)
{
// Is a turn possible? If yes, we stay on the roundabout!
if (1 == node_based_graph->GetDirectedOutDegree(node_v))
{
// No turn possible.
return TurnInstruction::NO_TURN();
}
return TurnInstruction::REMAIN_ROUNDABOUT(getTurnDirection(angle));
}
// Does turn start or end on roundabout?
if (data1.roundabout || data2.roundabout)
{
// We are entering the roundabout
if ((!data1.roundabout) && data2.roundabout)
{
return TurnInstruction::ENTER_ROUNDABOUT(getTurnDirection(angle));
}
// We are leaving the roundabout
if (data1.roundabout && (!data2.roundabout))
{
return TurnInstruction::EXIT_ROUNDABOUT(getTurnDirection(angle));
}
}
if (!from_ramp && to_ramp)
{
return {TurnType::Ramp, getTurnDirection(angle)};
}
// assign a designated turn angle instruction purely based on the angle
return {TurnType::Turn, getTurnDirection(angle)};
}
} // namespace turn_analysis
} // namespace extractor
} // namespace osrm