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fix compilation

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- std::log and M_PI are not constexpr's by the standard. replace by a constant
- reformat
This commit is contained in:
Dennis Luxen 2015-03-03 11:48:15 +01:00
parent 6fb8fdc2bd
commit 76aa494be4
1 changed files with 43 additions and 52 deletions
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95
routing_algorithms/map_matching.hpp
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@ -58,7 +58,6 @@ struct SubMatching
using CandidateList = std::vector<std::pair<PhantomNode, double>>; using CandidateList = std::vector<std::pair<PhantomNode, double>>;
using CandidateLists = std::vector<CandidateList>; using CandidateLists = std::vector<CandidateList>;
using SubMatchingList = std::vector<SubMatching>; using SubMatchingList = std::vector<SubMatching>;
constexpr static const unsigned max_number_of_candidates = 10;
constexpr static const double IMPOSSIBLE_LOG_PROB = -std::numeric_limits<double>::infinity(); constexpr static const double IMPOSSIBLE_LOG_PROB = -std::numeric_limits<double>::infinity();
constexpr static const double MINIMAL_LOG_PROB = -std::numeric_limits<double>::max(); constexpr static const double MINIMAL_LOG_PROB = -std::numeric_limits<double>::max();
constexpr static const unsigned INVALID_STATE = std::numeric_limits<unsigned>::max(); constexpr static const unsigned INVALID_STATE = std::numeric_limits<unsigned>::max();
@ -67,8 +66,8 @@ constexpr static const unsigned MAX_BROKEN_TIME = 30;
} }
// implements a hidden markov model map matching algorithm // implements a hidden markov model map matching algorithm
template <class DataFacadeT> class MapMatching final template <class DataFacadeT>
: public BasicRoutingInterface<DataFacadeT, MapMatching<DataFacadeT>> class MapMatching final : public BasicRoutingInterface<DataFacadeT, MapMatching<DataFacadeT>>
{ {
using super = BasicRoutingInterface<DataFacadeT, MapMatching<DataFacadeT>>; using super = BasicRoutingInterface<DataFacadeT, MapMatching<DataFacadeT>>;
using QueryHeap = SearchEngineData::QueryHeap; using QueryHeap = SearchEngineData::QueryHeap;
@ -77,7 +76,7 @@ template <class DataFacadeT> class MapMatching final
// FIXME this value should be a table based on samples/meter (or samples/min) // FIXME this value should be a table based on samples/meter (or samples/min)
constexpr static const double default_beta = 10.0; constexpr static const double default_beta = 10.0;
constexpr static const double default_sigma_z = 4.07; constexpr static const double default_sigma_z = 4.07;
constexpr static const double log_2_pi = std::log(2 * M_PI); constexpr static const double log_2_pi = 1.837877066409346; // std::log(2. * M_PI);
// closures to precompute log -> only simple floating point operations // closures to precompute log -> only simple floating point operations
struct EmissionLogProbability struct EmissionLogProbability
@ -86,8 +85,7 @@ template <class DataFacadeT> class MapMatching final
double log_sigma_z; double log_sigma_z;
EmissionLogProbability(const double sigma_z) EmissionLogProbability(const double sigma_z)
: sigma_z(sigma_z) : sigma_z(sigma_z), log_sigma_z(std::log(sigma_z))
, log_sigma_z(std::log(sigma_z))
{ {
} }
@ -100,16 +98,9 @@ template <class DataFacadeT> class MapMatching final
{ {
double beta; double beta;
double log_beta; double log_beta;
TransitionLogProbability(const double beta) TransitionLogProbability(const double beta) : beta(beta), log_beta(std::log(beta)) {}
: beta(beta)
, log_beta(std::log(beta))
{
}
double operator()(const double d_t) const double operator()(const double d_t) const { return -log_beta - d_t / beta; }
{
return -log_beta - d_t / beta;
}
}; };
double get_network_distance(const PhantomNode &source_phantom, double get_network_distance(const PhantomNode &source_phantom,
@ -159,13 +150,13 @@ template <class DataFacadeT> class MapMatching final
{ {
if (0 < forward_heap.Size()) if (0 < forward_heap.Size())
{ {
super::RoutingStep( super::RoutingStep(forward_heap, reverse_heap, &middle_node, &upper_bound,
forward_heap, reverse_heap, &middle_node, &upper_bound, edge_offset, true); edge_offset, true);
} }
if (0 < reverse_heap.Size()) if (0 < reverse_heap.Size())
{ {
super::RoutingStep( super::RoutingStep(reverse_heap, forward_heap, &middle_node, &upper_bound,
reverse_heap, forward_heap, &middle_node, &upper_bound, edge_offset, false); edge_offset, false);
} }
} }
@ -206,10 +197,12 @@ template <class DataFacadeT> class MapMatching final
std::vector<bool> breakage; std::vector<bool> breakage;
const Matching::CandidateLists &candidates_list; const Matching::CandidateLists &candidates_list;
const EmissionLogProbability& emission_log_probability; const EmissionLogProbability &emission_log_probability;
HiddenMarkovModel(const Matching::CandidateLists &candidates_list, const EmissionLogProbability& emission_log_probability) HiddenMarkovModel(const Matching::CandidateLists &candidates_list,
: breakage(candidates_list.size()), candidates_list(candidates_list), emission_log_probability(emission_log_probability) const EmissionLogProbability &emission_log_probability)
: breakage(candidates_list.size()), candidates_list(candidates_list),
emission_log_probability(emission_log_probability)
{ {
for (const auto &l : candidates_list) for (const auto &l : candidates_list)
{ {
@ -276,8 +269,7 @@ template <class DataFacadeT> class MapMatching final
// Provides the debug interface for introspection tools // Provides the debug interface for introspection tools
struct DebugInfo struct DebugInfo
{ {
DebugInfo(const osrm::json::Logger* logger) DebugInfo(const osrm::json::Logger *logger) : logger(logger)
: logger(logger)
{ {
if (logger) if (logger)
{ {
@ -285,7 +277,7 @@ template <class DataFacadeT> class MapMatching final
} }
} }
void initialize(const Matching::CandidateLists& candidates_list) void initialize(const Matching::CandidateLists &candidates_list)
{ {
// json logger not enabled // json logger not enabled
if (!logger) if (!logger)
@ -302,7 +294,8 @@ template <class DataFacadeT> class MapMatching final
state.values["coordinate"] = osrm::json::make_array( state.values["coordinate"] = osrm::json::make_array(
candidates_list[t][s].first.location.lat / COORDINATE_PRECISION, candidates_list[t][s].first.location.lat / COORDINATE_PRECISION,
candidates_list[t][s].first.location.lon / COORDINATE_PRECISION); candidates_list[t][s].first.location.lon / COORDINATE_PRECISION);
state.values["viterbi"] = osrm::json::clamp_float(Matching::IMPOSSIBLE_LOG_PROB); state.values["viterbi"] =
osrm::json::clamp_float(Matching::IMPOSSIBLE_LOG_PROB);
state.values["pruned"] = 0u; state.values["pruned"] = 0u;
timestamps.values.push_back(state); timestamps.values.push_back(state);
} }
@ -327,21 +320,18 @@ template <class DataFacadeT> class MapMatching final
osrm::json::Object transistion; osrm::json::Object transistion;
transistion.values["to"] = osrm::json::make_array(current_t, current_state); transistion.values["to"] = osrm::json::make_array(current_t, current_state);
transistion.values["properties"] = transistion.values["properties"] = osrm::json::make_array(
osrm::json::make_array(osrm::json::clamp_float(prev_viterbi), osrm::json::clamp_float(prev_viterbi), osrm::json::clamp_float(emission_pr),
osrm::json::clamp_float(emission_pr), osrm::json::clamp_float(transition_pr), network_distance, great_circle_distance);
osrm::json::clamp_float(transition_pr),
network_distance,
great_circle_distance);
osrm::json::get(*object, "states", prev_t, prev_state, "transitions") osrm::json::get(*object, "states", prev_t, prev_state, "transitions")
.get<mapbox::util::recursive_wrapper<osrm::json::Array>>() .get<mapbox::util::recursive_wrapper<osrm::json::Array>>()
.get().values.push_back(transistion); .get()
.values.push_back(transistion);
} }
void set_viterbi(const std::vector<std::vector<double>>& viterbi, void set_viterbi(const std::vector<std::vector<double>> &viterbi,
const std::vector<std::vector<bool>>& pruned) const std::vector<std::vector<bool>> &pruned)
{ {
// json logger not enabled // json logger not enabled
if (!logger) if (!logger)
@ -351,8 +341,10 @@ template <class DataFacadeT> class MapMatching final
{ {
for (auto s_prime = 0u; s_prime < viterbi[t].size(); ++s_prime) for (auto s_prime = 0u; s_prime < viterbi[t].size(); ++s_prime)
{ {
osrm::json::get(*object, "states", t, s_prime, "viterbi") = osrm::json::clamp_float(viterbi[t][s_prime]); osrm::json::get(*object, "states", t, s_prime, "viterbi") =
osrm::json::get(*object, "states", t, s_prime, "pruned") = static_cast<unsigned>(pruned[t][s_prime]); osrm::json::clamp_float(viterbi[t][s_prime]);
osrm::json::get(*object, "states", t, s_prime, "pruned") =
static_cast<unsigned>(pruned[t][s_prime]);
} }
} }
} }
@ -366,7 +358,7 @@ template <class DataFacadeT> class MapMatching final
osrm::json::get(*object, "states", t, s, "chosen") = true; osrm::json::get(*object, "states", t, s, "chosen") = true;
} }
void add_breakage(const std::vector<bool>& breakage) void add_breakage(const std::vector<bool> &breakage)
{ {
// json logger not enabled // json logger not enabled
if (!logger) if (!logger)
@ -375,8 +367,8 @@ template <class DataFacadeT> class MapMatching final
osrm::json::get(*object, "breakage") = osrm::json::make_array(breakage); osrm::json::get(*object, "breakage") = osrm::json::make_array(breakage);
} }
const osrm::json::Logger* logger; const osrm::json::Logger *logger;
osrm::json::Value* object; osrm::json::Value *object;
}; };
public: public:
@ -395,8 +387,10 @@ template <class DataFacadeT> class MapMatching final
BOOST_ASSERT(candidates_list.size() > 0); BOOST_ASSERT(candidates_list.size() > 0);
// TODO replace default values with table lookup based on sampling frequency // TODO replace default values with table lookup based on sampling frequency
EmissionLogProbability emission_log_probability(gps_precision > 0 ? gps_precision : default_sigma_z); EmissionLogProbability emission_log_probability(gps_precision > 0 ? gps_precision
TransitionLogProbability transition_log_probability(matching_beta > 0 ? matching_beta : default_beta); : default_sigma_z);
TransitionLogProbability transition_log_probability(matching_beta > 0 ? matching_beta
: default_beta);
HiddenMarkovModel model(candidates_list, emission_log_probability); HiddenMarkovModel model(candidates_list, emission_log_probability);
@ -429,8 +423,8 @@ template <class DataFacadeT> class MapMatching final
} }
else else
{ {
trace_split = trace_split || (t - prev_unbroken_timestamps.back() > trace_split = trace_split ||
Matching::MAX_BROKEN_STATES); (t - prev_unbroken_timestamps.back() > Matching::MAX_BROKEN_STATES);
} }
if (trace_split) if (trace_split)
@ -456,7 +450,7 @@ template <class DataFacadeT> class MapMatching final
// Important: We potentially go back here! // Important: We potentially go back here!
// However since t > new_start >= breakge_begin // However since t > new_start >= breakge_begin
// we can only reset trace_coordindates.size() times. // we can only reset trace_coordindates.size() times.
t = new_start+1; t = new_start + 1;
} }
unsigned prev_unbroken_timestamp = prev_unbroken_timestamps.back(); unsigned prev_unbroken_timestamp = prev_unbroken_timestamps.back();
@ -506,11 +500,8 @@ template <class DataFacadeT> class MapMatching final
new_value += transition_pr; new_value += transition_pr;
debug.add_transition_info(prev_unbroken_timestamp, t, s, s_prime, debug.add_transition_info(prev_unbroken_timestamp, t, s, s_prime,
prev_viterbi[s], prev_viterbi[s], emission_pr, transition_pr,
emission_pr, network_distance, great_circle_distance);
transition_pr,
network_distance,
great_circle_distance);
if (new_value > current_viterbi[s_prime]) if (new_value > current_viterbi[s_prime])
{ {
@ -622,6 +613,6 @@ template <class DataFacadeT> class MapMatching final
}; };
//[1] "Hidden Markov Map Matching Through Noise and Sparseness"; P. Newson and J. Krumm; 2009; ACM //[1] "Hidden Markov Map Matching Through Noise and Sparseness"; P. Newson and J. Krumm; 2009; ACM
//GIS // GIS
#endif /* MAP_MATCHING_HPP */ #endif /* MAP_MATCHING_HPP */