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Use Contstructor exportationMultiplier, not method additonalExploration on optimize

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glax 2024-07-29 01:29:58 +02:00
parent be4f19c4bb
commit 31f4dfe096
2 changed files with 10 additions and 12 deletions
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14
astar/Astar.cs
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@ -10,10 +10,10 @@ namespace astar
{ {
private readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = priorityWeights ?? new(0.75f, 1f, 0.1f, 0); private readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = priorityWeights ?? new(0.75f, 1f, 0.1f, 0);
private readonly ValueTuple<float, float, float, float> OptimizingWeights = optimizingWeights ?? new(0, 0.07f, 0, 0); private readonly ValueTuple<float, float, float, float> OptimizingWeights = optimizingWeights ?? new(0, 0.07f, 0, 0);
private int ExplorationDistanceFromRoute = explorationDistance ?? 1200; private readonly int _explorationDistanceFromRoute = explorationDistance ?? 1200;
private int ExplorationMultiplier = explorationMultiplier ?? 65; private readonly int _explorationMultiplier = explorationMultiplier ?? 65;
public Route FindPath(float startLat, float startLon, float endLat, float endLon, float regionSize, bool car = true, PathMeasure pathing = PathMeasure.Distance, float additionalExploration = 3, string? importFolderPath = null, ILogger? logger = null) public Route FindPath(float startLat, float startLon, float endLat, float endLon, float regionSize, bool car = true, PathMeasure pathing = PathMeasure.Distance, string? importFolderPath = null, ILogger? logger = null)
{ {
RegionLoader rl = new(regionSize, importFolderPath, logger: logger); RegionLoader rl = new(regionSize, importFolderPath, logger: logger);
Graph graph = Spiral(rl, startLat, startLon, regionSize); Graph graph = Spiral(rl, startLat, startLon, regionSize);
@ -77,12 +77,12 @@ namespace astar
Dictionary<ulong, int> routeQueue = toVisitStart.UnorderedItems.Select(l => l.Element).Union(toVisitEnd.UnorderedItems.Select(l => l.Element)).Where(id => Dictionary<ulong, int> routeQueue = toVisitStart.UnorderedItems.Select(l => l.Element).Union(toVisitEnd.UnorderedItems.Select(l => l.Element)).Where(id =>
{ {
Node p = graph.Nodes[id]; Node p = graph.Nodes[id];
return routeNodes.Any(route => route.DistanceTo(p) < ExplorationDistanceFromRoute); return routeNodes.Any(route => route.DistanceTo(p) < _explorationDistanceFromRoute);
}).ToDictionary(id => id, _ => int.MinValue); }).ToDictionary(id => id, _ => int.MinValue);
PriorityQueue<ulong, int> combinedQueue = new(); PriorityQueue<ulong, int> combinedQueue = new();
foreach ((ulong key, int value) in routeQueue) foreach ((ulong key, int value) in routeQueue)
combinedQueue.Enqueue(key, value); combinedQueue.Enqueue(key, value);
ValueTuple<Node, Node>? newMeetingEnds = Optimize(additionalExploration, graph, combinedQueue, car, rl, priorityHelper, pathing, startNode.Value, endNode.Value, logger); ValueTuple<Node, Node>? newMeetingEnds = Optimize(graph, combinedQueue, car, rl, priorityHelper, pathing, startNode.Value, endNode.Value, logger);
meetingEnds = newMeetingEnds ?? meetingEnds; meetingEnds = newMeetingEnds ?? meetingEnds;
return PathFound(graph, meetingEnds!.Value.Item1, meetingEnds.Value.Item2, car, logger); return PathFound(graph, meetingEnds!.Value.Item1, meetingEnds.Value.Item2, car, logger);
@ -140,10 +140,10 @@ namespace astar
return null; return null;
} }
private ValueTuple<Node, Node>? Optimize(float additionalExploration, Graph graph, PriorityQueue<ulong, int> combinedQueue, bool car, RegionLoader rl, PriorityHelper priorityHelper, PathMeasure pathing, Node startNode, Node goalNode, ILogger? logger = null) private ValueTuple<Node, Node>? Optimize(Graph graph, PriorityQueue<ulong, int> combinedQueue, bool car, RegionLoader rl, PriorityHelper priorityHelper, PathMeasure pathing, Node startNode, Node goalNode, ILogger? logger = null)
{ {
int currentPathLength = graph.Nodes.Values.Count(node => node.PreviousNodeId is not null); int currentPathLength = graph.Nodes.Values.Count(node => node.PreviousNodeId is not null);
int optimizeAfterFound = (int)(combinedQueue.Count * additionalExploration); //Check another x% of unexplored Paths. int optimizeAfterFound = (int)(combinedQueue.Count * _explorationMultiplier); //Check another x% of unexplored Paths.
logger?.LogInformation($"Path found (explored {currentPathLength} Nodes). Optimizing route. (exploring {optimizeAfterFound} additional Nodes)"); logger?.LogInformation($"Path found (explored {currentPathLength} Nodes). Optimizing route. (exploring {optimizeAfterFound} additional Nodes)");
ValueTuple<Node, Node>? newMeetingEnds = null; ValueTuple<Node, Node>? newMeetingEnds = null;
while (optimizeAfterFound-- > 0 && combinedQueue.Count > 0) while (optimizeAfterFound-- > 0 && combinedQueue.Count > 0)

8
astar/PathingHelper/PriorityHelper.cs
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@ -2,8 +2,6 @@
public class PriorityHelper(double totalDistance, byte maxSpeed) public class PriorityHelper(double totalDistance, byte maxSpeed)
{ {
private readonly double _totalDistance = totalDistance;
private readonly byte _maxSpeed = maxSpeed;
public int CalculatePriority(Node current, Node neighbor, Node goal, byte speed, ValueTuple<float, float, float, float> ratingWeights) public int CalculatePriority(Node current, Node neighbor, Node goal, byte speed, ValueTuple<float, float, float, float> ratingWeights)
{ {
double neighborDistanceToGoal = neighbor.DistanceTo(goal); //we want this to be small double neighborDistanceToGoal = neighbor.DistanceTo(goal); //we want this to be small
@ -16,10 +14,10 @@ public class PriorityHelper(double totalDistance, byte maxSpeed)
neighborDistanceToGoal * neighborDistanceToGoal) / neighborDistanceToGoal * neighborDistanceToGoal) /
(2 * currentDistanceToGoal * currentDistanceToNeighbor))); (2 * currentDistanceToGoal * currentDistanceToNeighbor)));
double speedRating = speed * 1.0 / _maxSpeed * 100; double speedRating = speed * 1.0 / maxSpeed * 100;
double angleRating = 100 - (angle < 180 ? angle / 180 : (360 - angle) / 180) * 100; double angleRating = 100 - (angle < 180 ? angle / 180 : (360 - angle) / 180) * 100;
double distanceImprovedRating = 100 - (neighborDistanceToGoal - currentDistanceToGoal ) / _totalDistance * 100; double distanceImprovedRating = 100 - (neighborDistanceToGoal - currentDistanceToGoal ) / totalDistance * 100;
double distanceSpeedRating = ((_totalDistance / _maxSpeed) / (neighborDistanceToGoal / speed)) * 100; double distanceSpeedRating = ((totalDistance / maxSpeed) / (neighborDistanceToGoal / speed)) * 100;
return (int)-(speedRating * ratingWeights.Item1 + angleRating * ratingWeights.Item2 + distanceImprovedRating * ratingWeights.Item3 + distanceSpeedRating * ratingWeights.Item4); return (int)-(speedRating * ratingWeights.Item1 + angleRating * ratingWeights.Item2 + distanceImprovedRating * ratingWeights.Item3 + distanceSpeedRating * ratingWeights.Item4);
} }