#ifndef ROUTING_BASE_HPP
#define ROUTING_BASE_HPP
#include "util/coordinate_calculation.hpp"
#include "engine/internal_route_result.hpp"
#include "engine/search_engine_data.hpp"
#include "extractor/turn_instructions.hpp"
#include "util/typedefs.hpp"
#include <boost/assert.hpp>
#include <cstddef>
#include <cstdint>
#include <algorithm>
#include <iterator>
#include <utility>
#include <vector>
#include <stack>
namespace osrm
{
namespace engine
{
SearchEngineData::SearchEngineHeapPtr SearchEngineData::forward_heap_1;
SearchEngineData::SearchEngineHeapPtr SearchEngineData::reverse_heap_1;
SearchEngineData::SearchEngineHeapPtr SearchEngineData::forward_heap_2;
SearchEngineData::SearchEngineHeapPtr SearchEngineData::reverse_heap_2;
SearchEngineData::SearchEngineHeapPtr SearchEngineData::forward_heap_3;
SearchEngineData::SearchEngineHeapPtr SearchEngineData::reverse_heap_3;
namespace routing_algorithms
{
template <class DataFacadeT, class Derived> class BasicRoutingInterface
{
private:
using EdgeData = typename DataFacadeT::EdgeData;
protected:
DataFacadeT *facade;
public:
BasicRoutingInterface() = delete;
BasicRoutingInterface(const BasicRoutingInterface &) = delete;
explicit BasicRoutingInterface(DataFacadeT *facade) : facade(facade) {}
~BasicRoutingInterface() {}
/*
min_edge_offset is needed in case we use multiple
nodes as start/target nodes with different (even negative) offsets.
In that case the termination criterion is not correct
anymore.
Example:
forward heap: a(-100), b(0),
reverse heap: c(0), d(100)
a --- d
\ /
/ \
b --- c
This is equivalent to running a bi-directional Dijkstra on the following graph:
a --- d
/ \ / \
y x z
\ / \ /
b --- c
The graph is constructed by inserting nodes y and z that are connected to the initial nodes
using edges (y, a) with weight -100, (y, b) with weight 0 and,
(d, z) with weight 100, (c, z) with weight 0 corresponding.
Since we are dealing with a graph that contains _negative_ edges,
we need to add an offset to the termination criterion.
*/
void RoutingStep(SearchEngineData::QueryHeap &forward_heap,
SearchEngineData::QueryHeap &reverse_heap,
NodeID &middle_node_id,
std::int32_t &upper_bound,
std::int32_t min_edge_offset,
const bool forward_direction,
const bool stalling,
const bool force_loop_forward,
const bool force_loop_reverse) const
{
const NodeID node = forward_heap.DeleteMin();
const std::int32_t distance = forward_heap.GetKey(node);
if (reverse_heap.WasInserted(node))
{
const std::int32_t new_distance = reverse_heap.GetKey(node) + distance;
if (new_distance < upper_bound)
{
if (new_distance >= 0 &&
(!force_loop_forward ||
forward_heap.GetData(node).parent !=
node) // if loops are forced, they are so at the source
&& (!force_loop_reverse || reverse_heap.GetData(node).parent != node))
{
middle_node_id = node;
upper_bound = new_distance;
}
else
{
// check whether there is a loop present at the node
for (const auto edge : facade->GetAdjacentEdgeRange(node))
{
const EdgeData &data = facade->GetEdgeData(edge);
bool forward_directionFlag =
(forward_direction ? data.forward : data.backward);
if (forward_directionFlag)
{
const NodeID to = facade->GetTarget(edge);
if (to == node)
{
const EdgeWeight edge_weight = data.distance;
const std::int32_t loop_distance = new_distance + edge_weight;
if (loop_distance >= 0 && loop_distance < upper_bound)
{
middle_node_id = node;
upper_bound = loop_distance;
}
}
}
}
}
}
}
// make sure we don't terminate too early if we initialize the distance
// for the nodes in the forward heap with the forward/reverse offset
BOOST_ASSERT(min_edge_offset <= 0);
if (distance + min_edge_offset > upper_bound)
{
forward_heap.DeleteAll();
return;
}
// Stalling
if (stalling)
{
for (const auto edge : facade->GetAdjacentEdgeRange(node))
{
const EdgeData &data = facade->GetEdgeData(edge);
const bool reverse_flag = ((!forward_direction) ? data.forward : data.backward);
if (reverse_flag)
{
const NodeID to = facade->GetTarget(edge);
const EdgeWeight edge_weight = data.distance;
BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
if (forward_heap.WasInserted(to))
{
if (forward_heap.GetKey(to) + edge_weight < distance)
{
return;
}
}
}
}
}
for (const auto edge : facade->GetAdjacentEdgeRange(node))
{
const EdgeData &data = facade->GetEdgeData(edge);
bool forward_directionFlag = (forward_direction ? data.forward : data.backward);
if (forward_directionFlag)
{
const NodeID to = facade->GetTarget(edge);
const EdgeWeight edge_weight = data.distance;
BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
const int to_distance = distance + edge_weight;
// New Node discovered -> Add to Heap + Node Info Storage
if (!forward_heap.WasInserted(to))
{
forward_heap.Insert(to, to_distance, node);
}
// Found a shorter Path -> Update distance
else if (to_distance < forward_heap.GetKey(to))
{
// new parent
forward_heap.GetData(to).parent = node;
forward_heap.DecreaseKey(to, to_distance);
}
}
}
}
inline EdgeWeight GetLoopWeight(NodeID node) const
{
EdgeWeight loop_weight = INVALID_EDGE_WEIGHT;
for (auto edge : facade->GetAdjacentEdgeRange(node))
{
const auto &data = facade->GetEdgeData(edge);
if (data.forward)
{
const NodeID to = facade->GetTarget(edge);
if (to == node)
{
loop_weight = std::min(loop_weight, data.distance);
}
}
}
return loop_weight;
}
template <typename RandomIter>
void UnpackPath(RandomIter packed_path_begin,
RandomIter packed_path_end,
const PhantomNodes &phantom_node_pair,
std::vector<PathData> &unpacked_path) const
{
const bool start_traversed_in_reverse =
(*packed_path_begin != phantom_node_pair.source_phantom.forward_node_id);
const bool target_traversed_in_reverse =
(*std::prev(packed_path_end) != phantom_node_pair.target_phantom.forward_node_id);
BOOST_ASSERT(std::distance(packed_path_begin, packed_path_end) > 0);
std::stack<std::pair<NodeID, NodeID>> recursion_stack;
// We have to push the path in reverse order onto the stack because it's LIFO.
for (auto current = std::prev(packed_path_end); current != packed_path_begin;
current = std::prev(current))
{
recursion_stack.emplace(*std::prev(current), *current);
}
std::pair<NodeID, NodeID> edge;
while (!recursion_stack.empty())
{
// edge.first edge.second
// *------------------>*
// edge_id
edge = recursion_stack.top();
recursion_stack.pop();
// facade->FindEdge does not suffice here in case of shortcuts.
// The above explanation unclear? Think!
EdgeID smaller_edge_id = SPECIAL_EDGEID;
EdgeWeight edge_weight = std::numeric_limits<EdgeWeight>::max();
for (const auto edge_id : facade->GetAdjacentEdgeRange(edge.first))
{
const EdgeWeight weight = facade->GetEdgeData(edge_id).distance;
if ((facade->GetTarget(edge_id) == edge.second) && (weight < edge_weight) &&
facade->GetEdgeData(edge_id).forward)
{
smaller_edge_id = edge_id;
edge_weight = weight;
}
}
// edge.first edge.second
// *<------------------*
// edge_id
if (SPECIAL_EDGEID == smaller_edge_id)
{
for (const auto edge_id : facade->GetAdjacentEdgeRange(edge.second))
{
const EdgeWeight weight = facade->GetEdgeData(edge_id).distance;
if ((facade->GetTarget(edge_id) == edge.first) && (weight < edge_weight) &&
facade->GetEdgeData(edge_id).backward)
{
smaller_edge_id = edge_id;
edge_weight = weight;
}
}
}
BOOST_ASSERT_MSG(edge_weight != INVALID_EDGE_WEIGHT, "edge id invalid");
const EdgeData &ed = facade->GetEdgeData(smaller_edge_id);
if (ed.shortcut)
{ // unpack
const NodeID middle_node_id = ed.id;
// again, we need to this in reversed order
recursion_stack.emplace(middle_node_id, edge.second);
recursion_stack.emplace(edge.first, middle_node_id);
}
else
{
BOOST_ASSERT_MSG(!ed.shortcut, "original edge flagged as shortcut");
unsigned name_index = facade->GetNameIndexFromEdgeID(ed.id);
const extractor::TurnInstruction turn_instruction =
facade->GetTurnInstructionForEdgeID(ed.id);
const extractor::TravelMode travel_mode = facade->GetTravelModeForEdgeID(ed.id);
if (!facade->EdgeIsCompressed(ed.id))
{
BOOST_ASSERT(!facade->EdgeIsCompressed(ed.id));
unpacked_path.emplace_back(facade->GetGeometryIndexForEdgeID(ed.id), name_index,
turn_instruction, ed.distance, travel_mode);
}
else
{
std::vector<unsigned> id_vector;
facade->GetUncompressedGeometry(facade->GetGeometryIndexForEdgeID(ed.id),
id_vector);
const std::size_t start_index =
(unpacked_path.empty()
? ((start_traversed_in_reverse)
? id_vector.size() -
phantom_node_pair.source_phantom.fwd_segment_position - 1
: phantom_node_pair.source_phantom.fwd_segment_position)
: 0);
const std::size_t end_index = id_vector.size();
BOOST_ASSERT(start_index >= 0);
BOOST_ASSERT(start_index <= end_index);
for (std::size_t i = start_index; i < end_index; ++i)
{
unpacked_path.emplace_back(id_vector[i], name_index,
extractor::TurnInstruction::NoTurn, 0,
travel_mode);
}
unpacked_path.back().turn_instruction = turn_instruction;
unpacked_path.back().segment_duration = ed.distance;
}
}
}
if (SPECIAL_EDGEID != phantom_node_pair.target_phantom.packed_geometry_id)
{
std::vector<unsigned> id_vector;
facade->GetUncompressedGeometry(phantom_node_pair.target_phantom.packed_geometry_id,
id_vector);
const bool is_local_path = (phantom_node_pair.source_phantom.packed_geometry_id ==
phantom_node_pair.target_phantom.packed_geometry_id) &&
unpacked_path.empty();
std::size_t start_index = 0;
if (is_local_path)
{
start_index = phantom_node_pair.source_phantom.fwd_segment_position;
if (target_traversed_in_reverse)
{
start_index =
id_vector.size() - phantom_node_pair.source_phantom.fwd_segment_position;
}
}
std::size_t end_index = phantom_node_pair.target_phantom.fwd_segment_position;
if (target_traversed_in_reverse)
{
std::reverse(id_vector.begin(), id_vector.end());
end_index =
id_vector.size() - phantom_node_pair.target_phantom.fwd_segment_position;
}
if (start_index > end_index)
{
start_index = std::min(start_index, id_vector.size() - 1);
}
for (std::size_t i = start_index; i != end_index; (start_index < end_index ? ++i : --i))
{
BOOST_ASSERT(i < id_vector.size());
BOOST_ASSERT(phantom_node_pair.target_phantom.forward_travel_mode > 0);
unpacked_path.emplace_back(
PathData{id_vector[i], phantom_node_pair.target_phantom.name_id,
extractor::TurnInstruction::NoTurn, 0,
phantom_node_pair.target_phantom.forward_travel_mode});
}
}
// there is no equivalent to a node-based node in an edge-expanded graph.
// two equivalent routes may start (or end) at different node-based edges
// as they are added with the offset how much "distance" on the edge
// has already been traversed. Depending on offset one needs to remove
// the last node.
if (unpacked_path.size() > 1)
{
const std::size_t last_index = unpacked_path.size() - 1;
const std::size_t second_to_last_index = last_index - 1;
// looks like a trivially true check but tests for underflow
BOOST_ASSERT(last_index > second_to_last_index);
if (unpacked_path[last_index].node == unpacked_path[second_to_last_index].node)
{
unpacked_path.pop_back();
}
BOOST_ASSERT(!unpacked_path.empty());
}
}
void UnpackEdge(const NodeID s, const NodeID t, std::vector<NodeID> &unpacked_path) const
{
std::stack<std::pair<NodeID, NodeID>> recursion_stack;
recursion_stack.emplace(s, t);
std::pair<NodeID, NodeID> edge;
while (!recursion_stack.empty())
{
edge = recursion_stack.top();
recursion_stack.pop();
EdgeID smaller_edge_id = SPECIAL_EDGEID;
EdgeWeight edge_weight = std::numeric_limits<EdgeWeight>::max();
for (const auto edge_id : facade->GetAdjacentEdgeRange(edge.first))
{
const EdgeWeight weight = facade->GetEdgeData(edge_id).distance;
if ((facade->GetTarget(edge_id) == edge.second) && (weight < edge_weight) &&
facade->GetEdgeData(edge_id).forward)
{
smaller_edge_id = edge_id;
edge_weight = weight;
}
}
if (SPECIAL_EDGEID == smaller_edge_id)
{
for (const auto edge_id : facade->GetAdjacentEdgeRange(edge.second))
{
const EdgeWeight weight = facade->GetEdgeData(edge_id).distance;
if ((facade->GetTarget(edge_id) == edge.first) && (weight < edge_weight) &&
facade->GetEdgeData(edge_id).backward)
{
smaller_edge_id = edge_id;
edge_weight = weight;
}
}
}
BOOST_ASSERT_MSG(edge_weight != std::numeric_limits<EdgeWeight>::max(),
"edge weight invalid");
const EdgeData &ed = facade->GetEdgeData(smaller_edge_id);
if (ed.shortcut)
{ // unpack
const NodeID middle_node_id = ed.id;
// again, we need to this in reversed order
recursion_stack.emplace(middle_node_id, edge.second);
recursion_stack.emplace(edge.first, middle_node_id);
}
else
{
BOOST_ASSERT_MSG(!ed.shortcut, "edge must be shortcut");
unpacked_path.emplace_back(edge.first);
}
}
unpacked_path.emplace_back(t);
}
void RetrievePackedPathFromHeap(const SearchEngineData::QueryHeap &forward_heap,
const SearchEngineData::QueryHeap &reverse_heap,
const NodeID middle_node_id,
std::vector<NodeID> &packed_path) const
{
RetrievePackedPathFromSingleHeap(forward_heap, middle_node_id, packed_path);
std::reverse(packed_path.begin(), packed_path.end());
packed_path.emplace_back(middle_node_id);
RetrievePackedPathFromSingleHeap(reverse_heap, middle_node_id, packed_path);
}
void RetrievePackedPathFromSingleHeap(const SearchEngineData::QueryHeap &search_heap,
const NodeID middle_node_id,
std::vector<NodeID> &packed_path) const
{
NodeID current_node_id = middle_node_id;
while (current_node_id != search_heap.GetData(current_node_id).parent)
{
current_node_id = search_heap.GetData(current_node_id).parent;
packed_path.emplace_back(current_node_id);
}
}
// assumes that heaps are already setup correctly.
// ATTENTION: This only works if no additional offset is supplied next to the Phantom Node
// Offsets.
// In case additional offsets are supplied, you might have to force a loop first.
// A forced loop might be necessary, if source and target are on the same segment.
// If this is the case and the offsets of the respective direction are larger for the source
// than the target
// then a force loop is required (e.g. source_phantom.forward_node_id ==
// target_phantom.forward_node_id
// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
// requires
// a force loop, if the heaps have been initialized with positive offsets.
void Search(SearchEngineData::QueryHeap &forward_heap,
SearchEngineData::QueryHeap &reverse_heap,
std::int32_t &distance,
std::vector<NodeID> &packed_leg,
const bool force_loop_forward,
const bool force_loop_reverse) const
{
NodeID middle = SPECIAL_NODEID;
// get offset to account for offsets on phantom nodes on compressed edges
const auto min_edge_offset = std::min(0, forward_heap.MinKey());
BOOST_ASSERT(min_edge_offset <= 0);
// we only every insert negative offsets for nodes in the forward heap
BOOST_ASSERT(reverse_heap.MinKey() >= 0);
// run two-Target Dijkstra routing step.
const constexpr bool STALLING_ENABLED = true;
while (0 < (forward_heap.Size() + reverse_heap.Size()))
{
if (!forward_heap.Empty())
{
RoutingStep(forward_heap, reverse_heap, middle, distance, min_edge_offset, true,
STALLING_ENABLED, force_loop_forward, force_loop_reverse);
}
if (!reverse_heap.Empty())
{
RoutingStep(reverse_heap, forward_heap, middle, distance, min_edge_offset, false,
STALLING_ENABLED, force_loop_reverse, force_loop_forward);
}
}
// No path found for both target nodes?
if (INVALID_EDGE_WEIGHT == distance || SPECIAL_NODEID == middle)
{
return;
}
// Was a paths over one of the forward/reverse nodes not found?
BOOST_ASSERT_MSG((SPECIAL_NODEID != middle && INVALID_EDGE_WEIGHT != distance),
"no path found");
// make sure to correctly unpack loops
if (distance != forward_heap.GetKey(middle) + reverse_heap.GetKey(middle))
{
// self loop
BOOST_ASSERT(forward_heap.GetData(middle).parent == middle &&
reverse_heap.GetData(middle).parent == middle);
packed_leg.push_back(middle);
packed_leg.push_back(middle);
}
else
{
RetrievePackedPathFromHeap(forward_heap, reverse_heap, middle, packed_leg);
}
}
// assumes that heaps are already setup correctly.
// A forced loop might be necessary, if source and target are on the same segment.
// If this is the case and the offsets of the respective direction are larger for the source
// than the target
// then a force loop is required (e.g. source_phantom.forward_node_id ==
// target_phantom.forward_node_id
// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
// requires
// a force loop, if the heaps have been initialized with positive offsets.
void SearchWithCore(SearchEngineData::QueryHeap &forward_heap,
SearchEngineData::QueryHeap &reverse_heap,
SearchEngineData::QueryHeap &forward_core_heap,
SearchEngineData::QueryHeap &reverse_core_heap,
int &distance,
std::vector<NodeID> &packed_leg,
const bool force_loop_forward,
const bool force_loop_reverse) const
{
NodeID middle = SPECIAL_NODEID;
std::vector<std::pair<NodeID, EdgeWeight>> forward_entry_points;
std::vector<std::pair<NodeID, EdgeWeight>> reverse_entry_points;
// get offset to account for offsets on phantom nodes on compressed edges
const auto min_edge_offset = std::min(0, forward_heap.MinKey());
// we only every insert negative offsets for nodes in the forward heap
BOOST_ASSERT(reverse_heap.MinKey() >= 0);
const constexpr bool STALLING_ENABLED = true;
// run two-Target Dijkstra routing step.
while (0 < (forward_heap.Size() + reverse_heap.Size()))
{
if (!forward_heap.Empty())
{
if (facade->IsCoreNode(forward_heap.Min()))
{
const NodeID node = forward_heap.DeleteMin();
const int key = forward_heap.GetKey(node);
forward_entry_points.emplace_back(node, key);
}
else
{
RoutingStep(forward_heap, reverse_heap, middle, distance, min_edge_offset, true,
STALLING_ENABLED, force_loop_forward, force_loop_reverse);
}
}
if (!reverse_heap.Empty())
{
if (facade->IsCoreNode(reverse_heap.Min()))
{
const NodeID node = reverse_heap.DeleteMin();
const int key = reverse_heap.GetKey(node);
reverse_entry_points.emplace_back(node, key);
}
else
{
RoutingStep(reverse_heap, forward_heap, middle, distance, min_edge_offset,
false, STALLING_ENABLED, force_loop_reverse, force_loop_forward);
}
}
}
// TODO check if unordered_set might be faster
// sort by id and increasing by distance
auto entry_point_comparator = [](const std::pair<NodeID, EdgeWeight> &lhs,
const std::pair<NodeID, EdgeWeight> &rhs)
{
return lhs.first < rhs.first || (lhs.first == rhs.first && lhs.second < rhs.second);
};
std::sort(forward_entry_points.begin(), forward_entry_points.end(), entry_point_comparator);
std::sort(reverse_entry_points.begin(), reverse_entry_points.end(), entry_point_comparator);
NodeID last_id = SPECIAL_NODEID;
for (const auto p : forward_entry_points)
{
if (p.first == last_id)
{
continue;
}
forward_core_heap.Insert(p.first, p.second, p.first);
last_id = p.first;
}
last_id = SPECIAL_NODEID;
for (const auto p : reverse_entry_points)
{
if (p.first == last_id)
{
continue;
}
reverse_core_heap.Insert(p.first, p.second, p.first);
last_id = p.first;
}
// get offset to account for offsets on phantom nodes on compressed edges
int min_core_edge_offset = 0;
if (forward_core_heap.Size() > 0)
{
min_core_edge_offset = std::min(min_core_edge_offset, forward_core_heap.MinKey());
}
if (reverse_core_heap.Size() > 0 && reverse_core_heap.MinKey() < 0)
{
min_core_edge_offset = std::min(min_core_edge_offset, reverse_core_heap.MinKey());
}
BOOST_ASSERT(min_core_edge_offset <= 0);
// run two-target Dijkstra routing step on core with termination criterion
const constexpr bool STALLING_DISABLED = false;
while (0 < (forward_core_heap.Size() + reverse_core_heap.Size()) &&
distance > (forward_core_heap.MinKey() + reverse_core_heap.MinKey()))
{
if (!forward_core_heap.Empty())
{
RoutingStep(forward_core_heap, reverse_core_heap, middle, distance,
min_core_edge_offset, true, STALLING_DISABLED, force_loop_forward,
force_loop_reverse);
}
if (!reverse_core_heap.Empty())
{
RoutingStep(reverse_core_heap, forward_core_heap, middle, distance,
min_core_edge_offset, false, STALLING_DISABLED, force_loop_reverse,
force_loop_forward);
}
}
// No path found for both target nodes?
if (INVALID_EDGE_WEIGHT == distance || SPECIAL_NODEID == middle)
{
return;
}
// Was a paths over one of the forward/reverse nodes not found?
BOOST_ASSERT_MSG((SPECIAL_NODEID != middle && INVALID_EDGE_WEIGHT != distance),
"no path found");
if (distance != forward_heap.GetKey(middle) + reverse_heap.GetKey(middle))
{
// self loop
BOOST_ASSERT(forward_heap.GetData(middle).parent == middle &&
reverse_heap.GetData(middle).parent == middle);
packed_leg.push_back(middle);
packed_leg.push_back(middle);
}
else
{
// we need to unpack sub path from core heaps
if (facade->IsCoreNode(middle))
{
std::vector<NodeID> packed_core_leg;
RetrievePackedPathFromHeap(forward_core_heap, reverse_core_heap, middle,
packed_core_leg);
BOOST_ASSERT(packed_core_leg.size() > 0);
RetrievePackedPathFromSingleHeap(forward_heap, packed_core_leg.front(), packed_leg);
std::reverse(packed_leg.begin(), packed_leg.end());
packed_leg.insert(packed_leg.end(), packed_core_leg.begin(), packed_core_leg.end());
RetrievePackedPathFromSingleHeap(reverse_heap, packed_core_leg.back(), packed_leg);
}
else
{
RetrievePackedPathFromHeap(forward_heap, reverse_heap, middle, packed_leg);
}
}
}
// Requires the heaps for be empty
// If heaps should be adjusted to be initialized outside of this function,
// the addition of force_loop parameters might be required
double get_network_distance(SearchEngineData::QueryHeap &forward_heap,
SearchEngineData::QueryHeap &reverse_heap,
const PhantomNode &source_phantom,
const PhantomNode &target_phantom) const
{
BOOST_ASSERT(forward_heap.Empty());
BOOST_ASSERT(reverse_heap.Empty());
EdgeWeight upper_bound = INVALID_EDGE_WEIGHT;
NodeID middle_node = SPECIAL_NODEID;
EdgeWeight edge_offset = std::min(0, -source_phantom.GetForwardWeightPlusOffset());
edge_offset = std::min(edge_offset, -source_phantom.GetReverseWeightPlusOffset());
if (source_phantom.forward_node_id != SPECIAL_NODEID)
{
forward_heap.Insert(source_phantom.forward_node_id,
-source_phantom.GetForwardWeightPlusOffset(),
source_phantom.forward_node_id);
}
if (source_phantom.reverse_node_id != SPECIAL_NODEID)
{
forward_heap.Insert(source_phantom.reverse_node_id,
-source_phantom.GetReverseWeightPlusOffset(),
source_phantom.reverse_node_id);
}
if (target_phantom.forward_node_id != SPECIAL_NODEID)
{
reverse_heap.Insert(target_phantom.forward_node_id,
target_phantom.GetForwardWeightPlusOffset(),
target_phantom.forward_node_id);
}
if (target_phantom.reverse_node_id != SPECIAL_NODEID)
{
reverse_heap.Insert(target_phantom.reverse_node_id,
target_phantom.GetReverseWeightPlusOffset(),
target_phantom.reverse_node_id);
}
// search from s and t till new_min/(1+epsilon) > length_of_shortest_path
const constexpr bool STALLING_ENABLED = true;
const constexpr bool DO_NOT_FORCE_LOOPS = false;
while (0 < (forward_heap.Size() + reverse_heap.Size()))
{
if (0 < forward_heap.Size())
{
RoutingStep(forward_heap, reverse_heap, middle_node, upper_bound, edge_offset, true,
STALLING_ENABLED, DO_NOT_FORCE_LOOPS, DO_NOT_FORCE_LOOPS);
}
if (0 < reverse_heap.Size())
{
RoutingStep(reverse_heap, forward_heap, middle_node, upper_bound, edge_offset,
false, STALLING_ENABLED, DO_NOT_FORCE_LOOPS, DO_NOT_FORCE_LOOPS);
}
}
double distance = std::numeric_limits<double>::max();
if (upper_bound != INVALID_EDGE_WEIGHT)
{
std::vector<NodeID> packed_leg;
if (upper_bound != forward_heap.GetKey(middle_node) + reverse_heap.GetKey(middle_node))
{
// self loop
BOOST_ASSERT(forward_heap.GetData(middle_node).parent == middle_node &&
reverse_heap.GetData(middle_node).parent == middle_node);
packed_leg.push_back(middle_node);
packed_leg.push_back(middle_node);
}
else
{
RetrievePackedPathFromHeap(forward_heap, reverse_heap, middle_node, packed_leg);
}
std::vector<PathData> unpacked_path;
PhantomNodes nodes;
nodes.source_phantom = source_phantom;
nodes.target_phantom = target_phantom;
UnpackPath(packed_leg.begin(), packed_leg.end(), nodes, unpacked_path);
util::FixedPointCoordinate previous_coordinate = source_phantom.location;
util::FixedPointCoordinate current_coordinate;
distance = 0;
for (const auto &p : unpacked_path)
{
current_coordinate = facade->GetCoordinateOfNode(p.node);
distance += util::coordinate_calculation::haversineDistance(previous_coordinate,
current_coordinate);
previous_coordinate = current_coordinate;
}
distance += util::coordinate_calculation::haversineDistance(previous_coordinate,
target_phantom.location);
}
return distance;
}
};
}
}
}
#endif // ROUTING_BASE_HPP