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Modifiable parameters for optimizing,

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For optimization, include nodes withing x meters from route
This commit is contained in:
glax 2024-07-24 03:23:36 +02:00
parent 956948d2d7
commit 46a79ed419
2 changed files with 17 additions and 9 deletions
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2
Executable/Program.cs
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@ -61,7 +61,7 @@ if (arguments.TryGetValue(pathArg, out string[]? pathValue))
converter.SplitOsmExportIntoRegionFiles(pathValue[0]);
}
Route route = Astar.FindPath(startLat, startLon, endLat, endLon, regionSize, true, importFolderPath: importPath, logger: logger);
Route route = new Astar().FindPath(startLat, startLon, endLat, endLon, regionSize, true, importFolderPath: importPath, logger: logger);
if(route.RouteFound)
Console.WriteLine(route);
else

24
astar/Astar.cs
View File

@ -6,11 +6,13 @@ using OSM_Regions;
namespace astar
{
public class Astar
public class Astar(ValueTuple<float, float, float, float>? optimizingWeights = null, int? explorationDistance = null)
{
private static readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = new(1, 1.4f, 0, 0);
private static readonly ValueTuple<float, float, float, float> OptimizingWeights = new(1, 0, 0, 0.5f);
public static 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)
private readonly ValueTuple<float, float, float, float> OptimizingWeights = optimizingWeights ?? new(1, 0, -0.2f, 0);
private int ExplorationDistanceFromRoute = explorationDistance ?? 200;
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)
{
RegionLoader rl = new(regionSize, importFolderPath, logger: logger);
Graph graph = Spiral(rl, startLat, startLon, regionSize);
@ -64,9 +66,15 @@ namespace astar
if(meetingEnds is null)
return new Route(graph, Array.Empty<Step>().ToList(), false);
PriorityQueue<ulong, int> combinedQueue = toVisitStart;
while(toVisitEnd.TryDequeue(out ulong id, out int prio))
combinedQueue.Enqueue(id, prio);
List<Node> routeNodes = PathFound(graph, meetingEnds.Value.Item1, meetingEnds.Value.Item2, car).Steps.Select(s => s.Node1).ToList();
Dictionary<ulong, int> routeQueue = toVisitStart.UnorderedItems.Select(l => l.Element).Union(toVisitEnd.UnorderedItems.Select(l => l.Element)).Where(id =>
{
Node p = graph.Nodes[id];
return routeNodes.Any(route => route.DistanceTo(p) < ExplorationDistanceFromRoute);
}).ToDictionary(id => id, _ => int.MinValue);
PriorityQueue<ulong, int> combinedQueue = new();
foreach ((ulong key, int value) in routeQueue)
combinedQueue.Enqueue(key, value);
ValueTuple<Node, Node>? newMeetingEnds = Optimize(additionalExploration, graph, combinedQueue, car, rl, priorityHelper, pathing, startNode.Value, endNode.Value, logger);
meetingEnds = newMeetingEnds ?? meetingEnds;
@ -123,10 +131,10 @@ namespace astar
return null;
}
private static 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(float additionalExploration, 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 optimizeAfterFound = (int)(currentPathLength * additionalExploration); //Check another x% of unexplored Paths.
int optimizeAfterFound = (int)(combinedQueue.Count * additionalExploration); //Check another x% of unexplored Paths.
logger?.LogInformation($"Path found (explored {currentPathLength} Nodes). Optimizing route. (exploring {optimizeAfterFound} additional Nodes)");
ValueTuple<Node, Node>? newMeetingEnds = null;
while (optimizeAfterFound-- > 0 && combinedQueue.Count > 0)