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improves consistency of fork handling

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This commit is contained in:
Moritz Kobitzsch 2016-03-22 16:27:18 +01:00 committed by Patrick Niklaus
parent 1f853385d5
commit d3888942e8
1 changed files with 77 additions and 43 deletions
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120
src/extractor/guidance/turn_analysis.cpp
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@ -268,8 +268,9 @@ TurnAnalysis::fallbackTurnAssignmentMotorway(std::vector<ConnectedRoad> intersec
return intersection; return intersection;
} }
std::vector<ConnectedRoad> TurnAnalysis::handleFromMotorway( std::vector<ConnectedRoad>
const EdgeID via_edge, std::vector<ConnectedRoad> intersection) const TurnAnalysis::handleFromMotorway(const EdgeID via_edge,
std::vector<ConnectedRoad> intersection) const
{ {
const auto &in_data = node_based_graph.GetEdgeData(via_edge); const auto &in_data = node_based_graph.GetEdgeData(via_edge);
BOOST_ASSERT(detail::isMotorwayClass(in_data.road_classification.road_class)); BOOST_ASSERT(detail::isMotorwayClass(in_data.road_classification.road_class));
@ -519,8 +520,9 @@ std::vector<ConnectedRoad> TurnAnalysis::handleFromMotorway(
return intersection; return intersection;
} }
std::vector<ConnectedRoad> TurnAnalysis::handleMotorwayRamp( std::vector<ConnectedRoad>
const EdgeID via_edge, std::vector<ConnectedRoad> intersection) const TurnAnalysis::handleMotorwayRamp(const EdgeID via_edge,
std::vector<ConnectedRoad> intersection) const
{ {
auto num_valid_turns = countValid(intersection); auto num_valid_turns = countValid(intersection);
// ramp straight into a motorway/ramp // ramp straight into a motorway/ramp
@ -659,8 +661,9 @@ std::vector<ConnectedRoad> TurnAnalysis::handleMotorwayRamp(
return intersection; return intersection;
} }
std::vector<ConnectedRoad> TurnAnalysis::handleMotorwayJunction( std::vector<ConnectedRoad>
const EdgeID via_edge, std::vector<ConnectedRoad> intersection) const TurnAnalysis::handleMotorwayJunction(const EdgeID via_edge,
std::vector<ConnectedRoad> intersection) const
{ {
// BOOST_ASSERT(!intersection[0].entry_allowed); //This fails due to @themarex handling of dead // BOOST_ASSERT(!intersection[0].entry_allowed); //This fails due to @themarex handling of dead
// end // end
@ -798,7 +801,8 @@ TurnAnalysis::handleThreeWayTurn(const EdgeID via_edge,
{ {
return (angularDeviation(road.turn.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE && return (angularDeviation(road.turn.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE &&
angularDeviation(other.turn.angle, STRAIGHT_ANGLE) > 85) || angularDeviation(other.turn.angle, STRAIGHT_ANGLE) > 85) ||
(angularDeviation(road.turn.angle,STRAIGHT_ANGLE) < std::numeric_limits<double>::epsilon()) || (angularDeviation(road.turn.angle, STRAIGHT_ANGLE) <
std::numeric_limits<double>::epsilon()) ||
(angularDeviation(other.turn.angle, STRAIGHT_ANGLE) / (angularDeviation(other.turn.angle, STRAIGHT_ANGLE) /
angularDeviation(road.turn.angle, STRAIGHT_ANGLE) > angularDeviation(road.turn.angle, STRAIGHT_ANGLE) >
1.4); 1.4);
@ -1004,10 +1008,10 @@ TurnAnalysis::handleThreeWayTurn(const EdgeID via_edge,
getTurnDirection(intersection[2].turn.angle)}; getTurnDirection(intersection[2].turn.angle)};
} }
} }
// unnamed intersections or basic three way turn // unnamed intersections or basic three way turn
// remain at basic turns // remain at basic turns
// TODO handle obviousness, Handle Merges // TODO handle obviousness, Handle Merges
return intersection; return intersection;
} }
@ -1505,31 +1509,87 @@ void TurnAnalysis::assignFork(const EdgeID via_edge,
node_based_graph.GetEdgeData(left.turn.eid).road_classification.road_class); node_based_graph.GetEdgeData(left.turn.eid).road_classification.road_class);
const bool low_priority_right = isLowPriorityRoadClass( const bool low_priority_right = isLowPriorityRoadClass(
node_based_graph.GetEdgeData(right.turn.eid).road_classification.road_class); node_based_graph.GetEdgeData(right.turn.eid).road_classification.road_class);
{ // left fork if ((angularDeviation(left.turn.angle, STRAIGHT_ANGLE) < MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
const auto &out_data = node_based_graph.GetEdgeData(left.turn.eid);
if ((angularDeviation(left.turn.angle, STRAIGHT_ANGLE) <
MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
angularDeviation(right.turn.angle, STRAIGHT_ANGLE) > FUZZY_ANGLE_DIFFERENCE)) angularDeviation(right.turn.angle, STRAIGHT_ANGLE) > FUZZY_ANGLE_DIFFERENCE))
{ {
// left side is actually straight
const auto &out_data = node_based_graph.GetEdgeData(left.turn.eid);
if (requiresAnnouncement(in_data, out_data)) if (requiresAnnouncement(in_data, out_data))
{ {
if (low_priority_right && !low_priority_left) if (low_priority_right && !low_priority_left)
{
left.turn.instruction = getInstructionForObvious(3, via_edge, left); left.turn.instruction = getInstructionForObvious(3, via_edge, left);
right.turn.instruction = {findBasicTurnType(via_edge, right),
DirectionModifier::SlightRight};
}
else else
{ {
if (low_priority_left && !low_priority_right) if (low_priority_left && !low_priority_right)
left.turn.instruction = {TurnType::Turn, DirectionModifier::SlightLeft}; {
left.turn.instruction = {findBasicTurnType(via_edge, left),
DirectionModifier::SlightLeft};
right.turn.instruction = {findBasicTurnType(via_edge, right),
DirectionModifier::SlightRight};
}
else else
{
left.turn.instruction = {TurnType::Fork, DirectionModifier::SlightLeft}; left.turn.instruction = {TurnType::Fork, DirectionModifier::SlightLeft};
right.turn.instruction = {TurnType::Fork, DirectionModifier::SlightRight};
}
} }
} }
else else
{ {
left.turn.instruction = {TurnType::Suppressed, DirectionModifier::Straight}; left.turn.instruction = {TurnType::Suppressed, DirectionModifier::Straight};
right.turn.instruction = {findBasicTurnType(via_edge, right),
DirectionModifier::SlightRight};
}
}
else if (angularDeviation(right.turn.angle, STRAIGHT_ANGLE) <
MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
angularDeviation(left.turn.angle, STRAIGHT_ANGLE) > FUZZY_ANGLE_DIFFERENCE)
{
// right side is actually straight
const auto &out_data = node_based_graph.GetEdgeData(right.turn.eid);
if (angularDeviation(right.turn.angle, STRAIGHT_ANGLE) <
MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
angularDeviation(left.turn.angle, STRAIGHT_ANGLE) > FUZZY_ANGLE_DIFFERENCE)
{
if (requiresAnnouncement(in_data, out_data))
{
if (low_priority_left && !low_priority_right)
{
left.turn.instruction = {findBasicTurnType(via_edge, left),
DirectionModifier::SlightLeft};
right.turn.instruction = getInstructionForObvious(3, via_edge, right);
}
else
{
if (low_priority_right && !low_priority_left)
{
left.turn.instruction = {findBasicTurnType(via_edge, left),
DirectionModifier::SlightLeft};
right.turn.instruction = {findBasicTurnType(via_edge, right),
DirectionModifier::SlightRight};
}
else
{
right.turn.instruction = {TurnType::Fork, DirectionModifier::SlightRight};
left.turn.instruction = {TurnType::Fork, DirectionModifier::SlightLeft};
}
} }
} }
else else
{ {
right.turn.instruction = {TurnType::Suppressed, DirectionModifier::Straight};
left.turn.instruction = {findBasicTurnType(via_edge, left),
DirectionModifier::SlightLeft};
}
}
}
else
{
// left side of fork
if (low_priority_right && !low_priority_left) if (low_priority_right && !low_priority_left)
left.turn.instruction = {TurnType::Suppressed, DirectionModifier::SlightLeft}; left.turn.instruction = {TurnType::Suppressed, DirectionModifier::SlightLeft};
else else
@ -1539,33 +1599,8 @@ void TurnAnalysis::assignFork(const EdgeID via_edge,
else else
left.turn.instruction = {TurnType::Fork, DirectionModifier::SlightLeft}; left.turn.instruction = {TurnType::Fork, DirectionModifier::SlightLeft};
} }
}
} // right side of fork
{ // right fork
const auto &out_data = node_based_graph.GetEdgeData(right.turn.eid);
if (angularDeviation(right.turn.angle, STRAIGHT_ANGLE) <
MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
angularDeviation(left.turn.angle, STRAIGHT_ANGLE) > FUZZY_ANGLE_DIFFERENCE)
{
if (requiresAnnouncement(in_data, out_data))
{
if (low_priority_left && !low_priority_right)
right.turn.instruction = getInstructionForObvious(3, via_edge, right);
else
{
if (low_priority_right && !low_priority_left)
right.turn.instruction = {TurnType::Turn, DirectionModifier::SlightRight};
else
right.turn.instruction = {TurnType::Fork, DirectionModifier::SlightRight};
}
}
else
{
right.turn.instruction = {TurnType::Suppressed, DirectionModifier::Straight};
}
}
else
{
if (low_priority_left && !low_priority_right) if (low_priority_left && !low_priority_right)
right.turn.instruction = {TurnType::Suppressed, DirectionModifier::SlightLeft}; right.turn.instruction = {TurnType::Suppressed, DirectionModifier::SlightLeft};
else else
@ -1576,7 +1611,6 @@ void TurnAnalysis::assignFork(const EdgeID via_edge,
right.turn.instruction = {TurnType::Fork, DirectionModifier::SlightRight}; right.turn.instruction = {TurnType::Fork, DirectionModifier::SlightRight};
} }
} }
}
} }
void TurnAnalysis::assignFork(const EdgeID via_edge, void TurnAnalysis::assignFork(const EdgeID via_edge,