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change phantom node to store an appx speed regardless of direction. use this speed to estimate an accel/decel penalty and scale the penalty based on the distance traveled up to a cutoff. only used in the table plugin at the moment. TODO still lives in the guidance assemble_leg area

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This commit is contained in:
Kevin Kreiser
2019-02-08 23:37:28 -05:00
committed by Daniel Patterson
parent 67e99c9809
commit ca55521c87
9 changed files with 77 additions and 78 deletions
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include/engine/api/base_parameters.hpp
+3 -3
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@@ -123,8 +123,8 @@ struct BaseParameters
});
}
};
}
}
}
} // namespace api
} // namespace engine
} // namespace osrm
#endif // ROUTE_PARAMETERS_HPP
include/engine/geospatial_query.hpp
+16 -37
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@@ -466,6 +466,7 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
return distance_and_phantoms;
}
// TODO: remove stoppage penalty as its not needed here anymore
PhantomNodeWithDistance MakePhantomNode(const util::Coordinate input_coordinate,
const EdgeData &data,
const double min_stoppage_penalty = 0,
@@ -555,36 +556,11 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
point_on_segment,
datafacade.GetCoordinateOfNode(forward_geometry(data.fwd_segment_position + 1)));
// where does this speed lie with respect to the min/max penalizable speeds
auto penalty_range = min_stoppage_penalty != INVALID_MINIMUM_STOPPAGE_PENALTY &&
max_stoppage_penalty != INVALID_MAXIMUM_STOPPAGE_PENALTY
? max_stoppage_penalty - min_stoppage_penalty
: 0;
auto stoppage_penalty =
[penalty_range, min_stoppage_penalty, max_stoppage_penalty](double speed) -> double {
// You're so slow already you don't get a penalty
if (speed < MINIMAL_ACCEL_DECEL_PENALIZABLE_SPEED)
return 0;
// Find where it is on the scale
constexpr auto max =
MAXIMAL_ACCEL_DECEL_PENALIZABLE_SPEED - MINIMAL_ACCEL_DECEL_PENALIZABLE_SPEED;
auto ratio = (speed - MINIMAL_ACCEL_DECEL_PENALIZABLE_SPEED) / max;
// You're faster than the max so you get the max
if (ratio >= 1)
return max_stoppage_penalty;
// You're in between so you get a linear combination
return min_stoppage_penalty + ratio * penalty_range;
};
// We may end up adding a stoppage penalty
EdgeDuration forward_stoppage_penalty = 0;
EdgeDuration reverse_stoppage_penalty = 0;
auto total_distance = penalty_range > 0 ? appx_distance(forward_geometry.begin(),
std::prev(forward_geometry.end()))
: 0.0;
double forward_speed = 0;
double reverse_speed = 0;
auto total_distance = 0;
auto penalty_range = max_stoppage_penalty - min_stoppage_penalty;
ratio = std::min(1.0, std::max(0.0, ratio));
if (data.forward_segment_id.id != SPECIAL_SEGMENTID)
{
@@ -593,11 +569,12 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
// Stoppage penalty based on speed
if (data.forward_segment_id.enabled && penalty_range > 0)
{
total_distance =
appx_distance(forward_geometry.begin(), std::prev(forward_geometry.end()));
const auto total_duration = std::accumulate(
forward_durations.begin(), forward_durations.end(), EdgeDuration{0});
const auto speed = total_distance / (total_duration * 0.1);
forward_stoppage_penalty =
static_cast<EdgeDuration>((stoppage_penalty(speed) * 10) + .5);
forward_speed = total_distance / (total_duration * 0.1);
reverse_speed = forward_speed;
}
}
if (data.reverse_segment_id.id != SPECIAL_SEGMENTID)
@@ -607,11 +584,14 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
// Stoppage penalty based on speed
if (data.reverse_segment_id.enabled && penalty_range > 0)
{
if (total_distance == 0)
total_distance =
appx_distance(forward_geometry.begin(), std::prev(forward_geometry.end()));
const auto total_duration = std::accumulate(
reverse_durations.begin(), reverse_durations.end(), EdgeDuration{0});
const auto speed = total_distance / (total_duration * 0.1);
reverse_stoppage_penalty =
static_cast<EdgeDuration>((stoppage_penalty(speed) * 10) + .5);
reverse_speed = total_distance / (total_duration * 0.1);
if (forward_speed == 0)
forward_speed = reverse_speed;
}
}
@@ -643,8 +623,7 @@ template <typename RTreeT, typename DataFacadeT> class GeospatialQuery
reverse_duration,
forward_duration_offset,
reverse_duration_offset,
forward_stoppage_penalty,
reverse_stoppage_penalty,
static_cast<float>((forward_speed + reverse_speed) / 2.0),
is_forward_valid_source,
is_forward_valid_target,
is_reverse_valid_source,
include/engine/guidance/assemble_leg.hpp
+2 -6
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@@ -182,12 +182,8 @@ inline RouteLeg assembleLeg(const datafacade::BaseDataFacade &facade,
duration = std::max(0, duration);
}
// Add start and stop penalties
if (distance > 0)
duration +=
(target_traversed_in_reverse
? source_node.reverse_duration_penalty + target_node.reverse_duration_penalty
: source_node.forward_duration_penalty + target_node.forward_duration_penalty);
// TODO: Add start and stop penalties to the duration to simulate accel/deceleration
//
std::string summary;
if (needs_summary)
include/engine/hint.hpp
+1 -1
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@@ -64,7 +64,7 @@ struct Hint
};
static_assert(sizeof(Hint) == sizeof(PhantomNode) + 4, "Hint is bigger than expected");
constexpr std::size_t ENCODED_HINT_SIZE = 124;
constexpr std::size_t ENCODED_HINT_SIZE = 120;
static_assert(ENCODED_HINT_SIZE / 4 * 3 >= sizeof(Hint),
"ENCODED_HINT_SIZE does not match size of Hint");
} // namespace engine
include/engine/phantom_node.hpp
+16 -18
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@@ -44,16 +44,16 @@ namespace engine
struct PhantomNode
{
PhantomNode()
: forward_segment_id{SPECIAL_SEGMENTID, false},
reverse_segment_id{SPECIAL_SEGMENTID, false}, forward_weight(INVALID_EDGE_WEIGHT),
reverse_weight(INVALID_EDGE_WEIGHT), forward_weight_offset(0), reverse_weight_offset(0),
: forward_segment_id{SPECIAL_SEGMENTID, false}, reverse_segment_id{SPECIAL_SEGMENTID,
false},
forward_weight(INVALID_EDGE_WEIGHT), reverse_weight(INVALID_EDGE_WEIGHT),
forward_weight_offset(0), reverse_weight_offset(0),
forward_distance(INVALID_EDGE_DISTANCE), reverse_distance(INVALID_EDGE_DISTANCE),
forward_distance_offset(0), reverse_distance_offset(0),
forward_duration(MAXIMAL_EDGE_DURATION), reverse_duration(MAXIMAL_EDGE_DURATION),
forward_duration_offset(0), reverse_duration_offset(0), forward_duration_penalty(0),
reverse_duration_penalty(0), fwd_segment_position(0), is_valid_forward_source{false},
is_valid_forward_target{false}, is_valid_reverse_source{false},
is_valid_reverse_target{false}, bearing(0)
forward_duration_offset(0), reverse_duration_offset(0), speed_approximation(0),
fwd_segment_position(0), is_valid_forward_source{false}, is_valid_forward_target{false},
is_valid_reverse_source{false}, is_valid_reverse_target{false}, bearing(0)
{
}
@@ -110,8 +110,9 @@ struct PhantomNode
bool IsValid(const unsigned number_of_nodes) const
{
return location.IsValid() && ((forward_segment_id.id < number_of_nodes) ||
(reverse_segment_id.id < number_of_nodes)) &&
return location.IsValid() &&
((forward_segment_id.id < number_of_nodes) ||
(reverse_segment_id.id < number_of_nodes)) &&
((forward_weight != INVALID_EDGE_WEIGHT) ||
(reverse_weight != INVALID_EDGE_WEIGHT)) &&
((forward_duration != MAXIMAL_EDGE_DURATION) ||
@@ -168,8 +169,7 @@ struct PhantomNode
EdgeDuration reverse_duration,
EdgeDuration forward_duration_offset,
EdgeDuration reverse_duration_offset,
EdgeDuration forward_duration_penalty,
EdgeDuration reverse_duration_penalty,
EdgeDistance speed_approximation,
bool is_valid_forward_source,
bool is_valid_forward_target,
bool is_valid_reverse_source,
@@ -185,10 +185,9 @@ struct PhantomNode
reverse_distance_offset{reverse_distance_offset}, forward_duration{forward_duration},
reverse_duration{reverse_duration}, forward_duration_offset{forward_duration_offset},
reverse_duration_offset{reverse_duration_offset},
forward_duration_penalty{forward_duration_penalty},
reverse_duration_penalty{reverse_duration_penalty},
component{component.id, component.is_tiny}, location{location},
input_location{input_location}, fwd_segment_position{other.fwd_segment_position},
speed_approximation{speed_approximation}, component{component.id, component.is_tiny},
location{location}, input_location{input_location},
fwd_segment_position{other.fwd_segment_position},
is_valid_forward_source{is_valid_forward_source},
is_valid_forward_target{is_valid_forward_target},
is_valid_reverse_source{is_valid_reverse_source},
@@ -210,8 +209,7 @@ struct PhantomNode
EdgeDuration reverse_duration;
EdgeDuration forward_duration_offset; // TODO: try to remove -> requires path unpacking changes
EdgeDuration reverse_duration_offset; // TODO: try to remove -> requires path unpacking changes
EdgeDuration forward_duration_penalty;
EdgeDuration reverse_duration_penalty;
EdgeDistance speed_approximation; // m/s
ComponentID component;
@@ -227,7 +225,7 @@ struct PhantomNode
unsigned short bearing : 12;
};
static_assert(sizeof(PhantomNode) == 88, "PhantomNode has more padding then expected");
static_assert(sizeof(PhantomNode) == 84, "PhantomNode has more padding then expected");
using PhantomNodePair = std::pair<PhantomNode, PhantomNode>;
include/engine/routing_algorithms/routing_base.hpp
+4 -4
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@@ -86,7 +86,7 @@ void insertSourceInHeap(ManyToManyQueryHeap &heap, const PhantomNode &phantom_no
heap.Insert(phantom_node.forward_segment_id.id,
-phantom_node.GetForwardWeightPlusOffset(),
{phantom_node.forward_segment_id.id,
-phantom_node.GetForwardDuration() + phantom_node.forward_duration_penalty,
-phantom_node.GetForwardDuration(),
-phantom_node.GetForwardDistance()});
}
if (phantom_node.IsValidReverseSource())
@@ -94,7 +94,7 @@ void insertSourceInHeap(ManyToManyQueryHeap &heap, const PhantomNode &phantom_no
heap.Insert(phantom_node.reverse_segment_id.id,
-phantom_node.GetReverseWeightPlusOffset(),
{phantom_node.reverse_segment_id.id,
-phantom_node.GetReverseDuration() + phantom_node.reverse_duration_penalty,
-phantom_node.GetReverseDuration(),
-phantom_node.GetReverseDistance()});
}
}
@@ -107,7 +107,7 @@ void insertTargetInHeap(ManyToManyQueryHeap &heap, const PhantomNode &phantom_no
heap.Insert(phantom_node.forward_segment_id.id,
phantom_node.GetForwardWeightPlusOffset(),
{phantom_node.forward_segment_id.id,
phantom_node.GetForwardDuration() + phantom_node.forward_duration_penalty,
phantom_node.GetForwardDuration(),
phantom_node.GetForwardDistance()});
}
if (phantom_node.IsValidReverseTarget())
@@ -115,7 +115,7 @@ void insertTargetInHeap(ManyToManyQueryHeap &heap, const PhantomNode &phantom_no
heap.Insert(phantom_node.reverse_segment_id.id,
phantom_node.GetReverseWeightPlusOffset(),
{phantom_node.reverse_segment_id.id,
phantom_node.GetReverseDuration() + phantom_node.reverse_duration_penalty,
phantom_node.GetReverseDuration(),
phantom_node.GetReverseDistance()});
}
}
include/server/api/base_parameters_grammar.hpp
+4 -4
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@@ -25,7 +25,7 @@ namespace
{
namespace ph = boost::phoenix;
namespace qi = boost::spirit::qi;
}
} // namespace
template <typename T, char... Fmt> struct no_trailing_dot_policy : qi::real_policies<T>
{
@@ -222,8 +222,8 @@ struct BaseParametersGrammar : boost::spirit::qi::grammar<Iterator, Signature>
qi::symbols<char, engine::Approach> approach_type;
qi::symbols<char, engine::api::BaseParameters::SnappingType> snapping_type;
};
}
}
}
} // namespace api
} // namespace server
} // namespace osrm
#endif
include/util/typedefs.hpp
+1 -2
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@@ -119,8 +119,7 @@ static const EdgeDistance INVALID_EDGE_DISTANCE = std::numeric_limits<EdgeDistan
static const EdgeDistance INVALID_FALLBACK_SPEED = std::numeric_limits<EdgeDistance>::max();
constexpr EdgeDuration INVALID_MINIMUM_STOPPAGE_PENALTY = std::numeric_limits<EdgeDuration>::max();
constexpr EdgeDuration INVALID_MAXIMUM_STOPPAGE_PENALTY = std::numeric_limits<EdgeDuration>::max();
constexpr double MINIMAL_ACCEL_DECEL_PENALIZABLE_SPEED = 10; // metres/second
constexpr double MAXIMAL_ACCEL_DECEL_PENALIZABLE_SPEED = 40; // metres/sec
constexpr float MAXIMAL_ACCEL_DECEL_PENALIZABLE_SPEED_INVERSE = 40.f; // seconds/metre
// FIXME the bitfields we use require a reduced maximal duration, this should be kept consistent
// within the code base. For now we have to ensure that we don't case 30 bit to -1 and break any