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osrm-backend/include/engine/routing_algorithms/routing_base.hpp
Moritz Kobitzsch 5e167b8745 Turn Angles in OSRM were computed using a lookahead of 10 meters. 
This PR adds more advanced coordinate extraction, analysing the road
to detect offsets due to OSM way modelling.

In addition it improves the handling of bearings. Right now OSM reports
bearings simply based on the very first coordinate along a way.
With this PR, we store the bearings for a turn correctly, making the
bearings for turns correct.
2016-10-20 10:47:29 +02:00

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#ifndef ROUTING_BASE_HPP
#define ROUTING_BASE_HPP
#include "extractor/guidance/turn_instruction.hpp"
#include "engine/edge_unpacker.hpp"
#include "engine/internal_route_result.hpp"
#include "engine/search_engine_data.hpp"
#include "util/coordinate_calculation.hpp"
#include "util/guidance/turn_bearing.hpp"
#include "util/typedefs.hpp"
#include <boost/assert.hpp>
#include <cstddef>
#include <cstdint>
#include <algorithm>
#include <iterator>
#include <numeric>
#include <stack>
#include <utility>
#include <vector>
namespace osrm
{
namespace engine
{
namespace routing_algorithms
{
template <class DataFacadeT, class Derived> class BasicRoutingInterface
{
private:
using EdgeData = typename DataFacadeT::EdgeData;
public:
/*
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(const DataFacadeT &facade,
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 loops are forced, they are so at the source
if ((force_loop_forward && forward_heap.GetData(node).parent == node) ||
(force_loop_reverse && reverse_heap.GetData(node).parent == node) ||
// in this case we are looking at a bi-directional way where the source
// and target phantom are on the same edge based node
new_distance < 0)
{
// 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;
}
}
}
}
}
else
{
BOOST_ASSERT(new_distance >= 0);
middle_node_id = node;
upper_bound = new_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(const DataFacadeT &facade, 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(const DataFacadeT &facade,
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_segment_id.id);
const bool target_traversed_in_reverse =
(*std::prev(packed_path_end) != phantom_node_pair.target_phantom.forward_segment_id.id);
BOOST_ASSERT(std::distance(packed_path_begin, packed_path_end) > 0);
BOOST_ASSERT(*packed_path_begin == phantom_node_pair.source_phantom.forward_segment_id.id ||
*packed_path_begin == phantom_node_pair.source_phantom.reverse_segment_id.id);
BOOST_ASSERT(
*std::prev(packed_path_end) == phantom_node_pair.target_phantom.forward_segment_id.id ||
*std::prev(packed_path_end) == phantom_node_pair.target_phantom.reverse_segment_id.id);
UnpackCHPath(
facade,
packed_path_begin,
packed_path_end,
[this,
&facade,
&unpacked_path,
&phantom_node_pair,
&start_traversed_in_reverse,
&target_traversed_in_reverse](std::pair<NodeID, NodeID> & /* edge */,
const EdgeData &edge_data) {
BOOST_ASSERT_MSG(!edge_data.shortcut, "original edge flagged as shortcut");
const auto name_index = facade.GetNameIndexFromEdgeID(edge_data.id);
const auto turn_instruction = facade.GetTurnInstructionForEdgeID(edge_data.id);
const extractor::TravelMode travel_mode =
(unpacked_path.empty() && start_traversed_in_reverse)
? phantom_node_pair.source_phantom.backward_travel_mode
: facade.GetTravelModeForEdgeID(edge_data.id);
const auto geometry_index = facade.GetGeometryIndexForEdgeID(edge_data.id);
std::vector<NodeID> id_vector;
std::vector<EdgeWeight> weight_vector;
std::vector<DatasourceID> datasource_vector;
if (geometry_index.forward)
{
id_vector = facade.GetUncompressedForwardGeometry(geometry_index.id);
weight_vector = facade.GetUncompressedForwardWeights(geometry_index.id);
datasource_vector = facade.GetUncompressedForwardDatasources(geometry_index.id);
}
else
{
id_vector = facade.GetUncompressedReverseGeometry(geometry_index.id);
weight_vector = facade.GetUncompressedReverseWeights(geometry_index.id);
datasource_vector = facade.GetUncompressedReverseDatasources(geometry_index.id);
}
BOOST_ASSERT(id_vector.size() > 0);
BOOST_ASSERT(weight_vector.size() > 0);
BOOST_ASSERT(datasource_vector.size() > 0);
const auto total_weight =
std::accumulate(weight_vector.begin(), weight_vector.end(), 0);
BOOST_ASSERT(weight_vector.size() == id_vector.size() - 1);
const bool is_first_segment = unpacked_path.empty();
const std::size_t start_index =
(is_first_segment
? ((start_traversed_in_reverse)
? weight_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 = weight_vector.size();
BOOST_ASSERT(start_index >= 0);
BOOST_ASSERT(start_index < end_index);
for (std::size_t segment_idx = start_index; segment_idx < end_index; ++segment_idx)
{
unpacked_path.push_back(
PathData{id_vector[segment_idx + 1],
name_index,
weight_vector[segment_idx],
extractor::guidance::TurnInstruction::NO_TURN(),
{{0, INVALID_LANEID}, INVALID_LANE_DESCRIPTIONID},
travel_mode,
INVALID_ENTRY_CLASSID,
datasource_vector[segment_idx],
util::guidance::TurnBearing(0),
util::guidance::TurnBearing(0)});
}
BOOST_ASSERT(unpacked_path.size() > 0);
if (facade.hasLaneData(edge_data.id))
unpacked_path.back().lane_data = facade.GetLaneData(edge_data.id);
unpacked_path.back().entry_classid = facade.GetEntryClassID(edge_data.id);
unpacked_path.back().turn_instruction = turn_instruction;
unpacked_path.back().duration_until_turn += (edge_data.distance - total_weight);
unpacked_path.back().pre_turn_bearing = facade.PreTurnBearing(edge_data.id);
unpacked_path.back().post_turn_bearing = facade.PostTurnBearing(edge_data.id);
});
std::size_t start_index = 0, end_index = 0;
std::vector<unsigned> id_vector;
std::vector<EdgeWeight> weight_vector;
std::vector<DatasourceID> datasource_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();
if (target_traversed_in_reverse)
{
id_vector = facade.GetUncompressedReverseGeometry(
phantom_node_pair.target_phantom.packed_geometry_id);
weight_vector = facade.GetUncompressedReverseWeights(
phantom_node_pair.target_phantom.packed_geometry_id);
datasource_vector = facade.GetUncompressedReverseDatasources(
phantom_node_pair.target_phantom.packed_geometry_id);
if (is_local_path)
{
start_index = weight_vector.size() -
phantom_node_pair.source_phantom.fwd_segment_position - 1;
}
end_index =
weight_vector.size() - phantom_node_pair.target_phantom.fwd_segment_position - 1;
}
else
{
if (is_local_path)
{
start_index = phantom_node_pair.source_phantom.fwd_segment_position;
}
end_index = phantom_node_pair.target_phantom.fwd_segment_position;
id_vector = facade.GetUncompressedForwardGeometry(
phantom_node_pair.target_phantom.packed_geometry_id);
weight_vector = facade.GetUncompressedForwardWeights(
phantom_node_pair.target_phantom.packed_geometry_id);
datasource_vector = facade.GetUncompressedForwardDatasources(
phantom_node_pair.target_phantom.packed_geometry_id);
}
// Given the following compressed geometry:
// U---v---w---x---y---Z
// s t
// s: fwd_segment 0
// t: fwd_segment 3
// -> (U, v), (v, w), (w, x)
// note that (x, t) is _not_ included but needs to be added later.
for (std::size_t segment_idx = start_index; segment_idx != end_index;
(start_index < end_index ? ++segment_idx : --segment_idx))
{
BOOST_ASSERT(segment_idx < id_vector.size() - 1);
BOOST_ASSERT(phantom_node_pair.target_phantom.forward_travel_mode > 0);
unpacked_path.push_back(PathData{
id_vector[start_index < end_index ? segment_idx + 1 : segment_idx - 1],
phantom_node_pair.target_phantom.name_id,
weight_vector[segment_idx],
extractor::guidance::TurnInstruction::NO_TURN(),
{{0, INVALID_LANEID}, INVALID_LANE_DESCRIPTIONID},
target_traversed_in_reverse ? phantom_node_pair.target_phantom.backward_travel_mode
: phantom_node_pair.target_phantom.forward_travel_mode,
INVALID_ENTRY_CLASSID,
datasource_vector[segment_idx],
util::guidance::TurnBearing(0),
util::guidance::TurnBearing(0)});
}
if (unpacked_path.size() > 0)
{
const auto source_weight = start_traversed_in_reverse
? phantom_node_pair.source_phantom.reverse_weight
: phantom_node_pair.source_phantom.forward_weight;
// The above code will create segments for (v, w), (w,x), (x, y) and (y, Z).
// However the first segment duration needs to be adjusted to the fact that the source
// phantom is in the middle of the segment. We do this by subtracting v--s from the
// duration.
// Since it's possible duration_until_turn can be less than source_weight here if
// a negative enough turn penalty is used to modify this edge weight during
// osrm-contract, we clamp to 0 here so as not to return a negative duration
// for this segment.
// TODO this creates a scenario where it's possible the duration from a phantom
// node to the first turn would be the same as from end to end of a segment,
// which is obviously incorrect and not ideal...
unpacked_path.front().duration_until_turn =
std::max(unpacked_path.front().duration_until_turn - source_weight, 0);
}
// 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;
if (unpacked_path[last_index].turn_via_node ==
unpacked_path[second_to_last_index].turn_via_node)
{
unpacked_path.pop_back();
}
BOOST_ASSERT(!unpacked_path.empty());
}
}
/**
* Unpacks a single edge (NodeID->NodeID) from the CH graph down to it's original non-shortcut
* route.
* @param from the node the CH edge starts at
* @param to the node the CH edge finishes at
* @param unpacked_path the sequence of original NodeIDs that make up the expanded CH edge
*/
void UnpackEdge(const DataFacadeT &facade,
const NodeID from,
const NodeID to,
std::vector<NodeID> &unpacked_path) const
{
std::array<NodeID, 2> path{{from, to}};
UnpackCHPath(
facade,
path.begin(),
path.end(),
[&unpacked_path](const std::pair<NodeID, NodeID> &edge, const EdgeData & /* data */) {
unpacked_path.emplace_back(edge.first);
});
unpacked_path.emplace_back(to);
}
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;
// all initial nodes will have itself as parent, or a node not in the heap
// in case of a core search heap. We need a distinction between core entry nodes
// and start nodes since otherwise start node specific code that assumes
// node == node.parent (e.g. the loop code) might get actived.
while (current_node_id != search_heap.GetData(current_node_id).parent &&
search_heap.WasInserted(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_segment_id ==
// target_phantom.forward_segment_id
// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
// requires
// a force loop, if the heaps have been initialized with positive offsets.
void Search(const DataFacadeT &facade,
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 int duration_upper_bound = INVALID_EDGE_WEIGHT) const
{
NodeID middle = SPECIAL_NODEID;
distance = duration_upper_bound;
// 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(facade,
forward_heap,
reverse_heap,
middle,
distance,
min_edge_offset,
true,
STALLING_ENABLED,
force_loop_forward,
force_loop_reverse);
}
if (!reverse_heap.Empty())
{
RoutingStep(facade,
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 (duration_upper_bound <= distance || SPECIAL_NODEID == middle)
{
distance = INVALID_EDGE_WEIGHT;
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 makes up the full path
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_segment_id ==
// target_phantom.forward_segment_id
// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
// requires
// a force loop, if the heaps have been initialized with positive offsets.
void SearchWithCore(const DataFacadeT &facade,
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,
int duration_upper_bound = INVALID_EDGE_WEIGHT) const
{
NodeID middle = SPECIAL_NODEID;
distance = duration_upper_bound;
using CoreEntryPoint = std::tuple<NodeID, EdgeWeight, NodeID>;
std::vector<CoreEntryPoint> forward_entry_points;
std::vector<CoreEntryPoint> 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, forward_heap.GetData(node).parent);
}
else
{
RoutingStep(facade,
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, reverse_heap.GetData(node).parent);
}
else
{
RoutingStep(facade,
reverse_heap,
forward_heap,
middle,
distance,
min_edge_offset,
false,
STALLING_ENABLED,
force_loop_reverse,
force_loop_forward);
}
}
}
const auto insertInCoreHeap = [](const CoreEntryPoint &p,
SearchEngineData::QueryHeap &core_heap) {
NodeID id;
EdgeWeight weight;
NodeID parent;
// TODO this should use std::apply when we get c++17 support
std::tie(id, weight, parent) = p;
core_heap.Insert(id, weight, parent);
};
forward_core_heap.Clear();
for (const auto &p : forward_entry_points)
{
insertInCoreHeap(p, forward_core_heap);
}
reverse_core_heap.Clear();
for (const auto &p : reverse_entry_points)
{
insertInCoreHeap(p, reverse_core_heap);
}
// 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() && 0 < reverse_core_heap.Size() &&
distance > (forward_core_heap.MinKey() + reverse_core_heap.MinKey()))
{
RoutingStep(facade,
forward_core_heap,
reverse_core_heap,
middle,
distance,
min_core_edge_offset,
true,
STALLING_DISABLED,
force_loop_forward,
force_loop_reverse);
RoutingStep(facade,
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 (duration_upper_bound <= distance || SPECIAL_NODEID == middle)
{
distance = INVALID_EDGE_WEIGHT;
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");
// we need to unpack sub path from core heaps
if (facade.IsCoreNode(middle))
{
if (distance != forward_core_heap.GetKey(middle) + reverse_core_heap.GetKey(middle))
{
// self loop
BOOST_ASSERT(forward_core_heap.GetData(middle).parent == middle &&
reverse_core_heap.GetData(middle).parent == middle);
packed_leg.push_back(middle);
packed_leg.push_back(middle);
}
else
{
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
{
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);
}
}
}
bool NeedsLoopForward(const PhantomNode &source_phantom,
const PhantomNode &target_phantom) const
{
return source_phantom.forward_segment_id.enabled &&
target_phantom.forward_segment_id.enabled &&
source_phantom.forward_segment_id.id == target_phantom.forward_segment_id.id &&
source_phantom.GetForwardWeightPlusOffset() >
target_phantom.GetForwardWeightPlusOffset();
}
bool NeedsLoopBackwards(const PhantomNode &source_phantom,
const PhantomNode &target_phantom) const
{
return source_phantom.reverse_segment_id.enabled &&
target_phantom.reverse_segment_id.enabled &&
source_phantom.reverse_segment_id.id == target_phantom.reverse_segment_id.id &&
source_phantom.GetReverseWeightPlusOffset() >
target_phantom.GetReverseWeightPlusOffset();
}
double GetPathDistance(const DataFacadeT &facade,
const std::vector<NodeID> &packed_path,
const PhantomNode &source_phantom,
const PhantomNode &target_phantom) const
{
std::vector<PathData> unpacked_path;
PhantomNodes nodes;
nodes.source_phantom = source_phantom;
nodes.target_phantom = target_phantom;
UnpackPath(facade, packed_path.begin(), packed_path.end(), nodes, unpacked_path);
using util::coordinate_calculation::detail::DEGREE_TO_RAD;
using util::coordinate_calculation::detail::EARTH_RADIUS;
double distance = 0;
double prev_lat =
static_cast<double>(toFloating(source_phantom.location.lat)) * DEGREE_TO_RAD;
double prev_lon =
static_cast<double>(toFloating(source_phantom.location.lon)) * DEGREE_TO_RAD;
double prev_cos = std::cos(prev_lat);
for (const auto &p : unpacked_path)
{
const auto current_coordinate = facade.GetCoordinateOfNode(p.turn_via_node);
const double current_lat =
static_cast<double>(toFloating(current_coordinate.lat)) * DEGREE_TO_RAD;
const double current_lon =
static_cast<double>(toFloating(current_coordinate.lon)) * DEGREE_TO_RAD;
const double current_cos = std::cos(current_lat);
const double sin_dlon = std::sin((prev_lon - current_lon) / 2.0);
const double sin_dlat = std::sin((prev_lat - current_lat) / 2.0);
const double aharv = sin_dlat * sin_dlat + prev_cos * current_cos * sin_dlon * sin_dlon;
const double charv = 2. * std::atan2(std::sqrt(aharv), std::sqrt(1.0 - aharv));
distance += EARTH_RADIUS * charv;
prev_lat = current_lat;
prev_lon = current_lon;
prev_cos = current_cos;
}
const double current_lat =
static_cast<double>(toFloating(target_phantom.location.lat)) * DEGREE_TO_RAD;
const double current_lon =
static_cast<double>(toFloating(target_phantom.location.lon)) * DEGREE_TO_RAD;
const double current_cos = std::cos(current_lat);
const double sin_dlon = std::sin((prev_lon - current_lon) / 2.0);
const double sin_dlat = std::sin((prev_lat - current_lat) / 2.0);
const double aharv = sin_dlat * sin_dlat + prev_cos * current_cos * sin_dlon * sin_dlon;
const double charv = 2. * std::atan2(std::sqrt(aharv), std::sqrt(1.0 - aharv));
distance += EARTH_RADIUS * charv;
return distance;
}
// 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 GetNetworkDistanceWithCore(const DataFacadeT &facade,
SearchEngineData::QueryHeap &forward_heap,
SearchEngineData::QueryHeap &reverse_heap,
SearchEngineData::QueryHeap &forward_core_heap,
SearchEngineData::QueryHeap &reverse_core_heap,
const PhantomNode &source_phantom,
const PhantomNode &target_phantom,
int duration_upper_bound = INVALID_EDGE_WEIGHT) const
{
BOOST_ASSERT(forward_heap.Empty());
BOOST_ASSERT(reverse_heap.Empty());
if (source_phantom.forward_segment_id.enabled)
{
forward_heap.Insert(source_phantom.forward_segment_id.id,
-source_phantom.GetForwardWeightPlusOffset(),
source_phantom.forward_segment_id.id);
}
if (source_phantom.reverse_segment_id.enabled)
{
forward_heap.Insert(source_phantom.reverse_segment_id.id,
-source_phantom.GetReverseWeightPlusOffset(),
source_phantom.reverse_segment_id.id);
}
if (target_phantom.forward_segment_id.enabled)
{
reverse_heap.Insert(target_phantom.forward_segment_id.id,
target_phantom.GetForwardWeightPlusOffset(),
target_phantom.forward_segment_id.id);
}
if (target_phantom.reverse_segment_id.enabled)
{
reverse_heap.Insert(target_phantom.reverse_segment_id.id,
target_phantom.GetReverseWeightPlusOffset(),
target_phantom.reverse_segment_id.id);
}
const bool constexpr DO_NOT_FORCE_LOOPS =
false; // prevents forcing of loops, since offsets are set correctly
int duration = INVALID_EDGE_WEIGHT;
std::vector<NodeID> packed_path;
SearchWithCore(facade,
forward_heap,
reverse_heap,
forward_core_heap,
reverse_core_heap,
duration,
packed_path,
DO_NOT_FORCE_LOOPS,
DO_NOT_FORCE_LOOPS,
duration_upper_bound);
double distance = std::numeric_limits<double>::max();
if (duration != INVALID_EDGE_WEIGHT)
{
return GetPathDistance(facade, packed_path, source_phantom, target_phantom);
}
return distance;
}
// 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 GetNetworkDistance(const DataFacadeT &facade,
SearchEngineData::QueryHeap &forward_heap,
SearchEngineData::QueryHeap &reverse_heap,
const PhantomNode &source_phantom,
const PhantomNode &target_phantom,
int duration_upper_bound = INVALID_EDGE_WEIGHT) const
{
BOOST_ASSERT(forward_heap.Empty());
BOOST_ASSERT(reverse_heap.Empty());
if (source_phantom.forward_segment_id.enabled)
{
forward_heap.Insert(source_phantom.forward_segment_id.id,
-source_phantom.GetForwardWeightPlusOffset(),
source_phantom.forward_segment_id.id);
}
if (source_phantom.reverse_segment_id.enabled)
{
forward_heap.Insert(source_phantom.reverse_segment_id.id,
-source_phantom.GetReverseWeightPlusOffset(),
source_phantom.reverse_segment_id.id);
}
if (target_phantom.forward_segment_id.enabled)
{
reverse_heap.Insert(target_phantom.forward_segment_id.id,
target_phantom.GetForwardWeightPlusOffset(),
target_phantom.forward_segment_id.id);
}
if (target_phantom.reverse_segment_id.enabled)
{
reverse_heap.Insert(target_phantom.reverse_segment_id.id,
target_phantom.GetReverseWeightPlusOffset(),
target_phantom.reverse_segment_id.id);
}
const bool constexpr DO_NOT_FORCE_LOOPS =
false; // prevents forcing of loops, since offsets are set correctly
int duration = INVALID_EDGE_WEIGHT;
std::vector<NodeID> packed_path;
Search(facade,
forward_heap,
reverse_heap,
duration,
packed_path,
DO_NOT_FORCE_LOOPS,
DO_NOT_FORCE_LOOPS,
duration_upper_bound);
if (duration == INVALID_EDGE_WEIGHT)
{
return std::numeric_limits<double>::max();
}
return GetPathDistance(facade, packed_path, source_phantom, target_phantom);
}
};
}
}
}
#endif // ROUTING_BASE_HPP
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