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No commits in common. "2f24a491b2b8c2eb281688fd361e0379dab38c40" and "956948d2d7f14e516e5e4082570e5a0fd2c6253d" have entirely different histories.

2 changed files with 9 additions and 18 deletions

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@ -61,7 +61,7 @@ if (arguments.TryGetValue(pathArg, out string[]? pathValue))
converter.SplitOsmExportIntoRegionFiles(pathValue[0]);
}
Route route = new Astar().FindPath(startLat, startLon, endLat, endLon, regionSize, true, importFolderPath: importPath, logger: logger);
Route route = Astar.FindPath(startLat, startLon, endLat, endLon, regionSize, true, importFolderPath: importPath, logger: logger);
if(route.RouteFound)
Console.WriteLine(route);
else

View File

@ -6,14 +6,11 @@ using OSM_Regions;
namespace astar
{
public class Astar(ValueTuple<float, float, float, float>? optimizingWeights = null, int? explorationDistance = null, int? explorationMultiplier = null)
public class Astar
{
private static readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = new(1, 1.4f, 0, 0);
private readonly ValueTuple<float, float, float, float> OptimizingWeights = optimizingWeights ?? new(0, 0.07f, 0, 0);
private int ExplorationDistanceFromRoute = explorationDistance ?? 200;
private 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)
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)
{
RegionLoader rl = new(regionSize, importFolderPath, logger: logger);
Graph graph = Spiral(rl, startLat, startLon, regionSize);
@ -67,15 +64,9 @@ namespace astar
if(meetingEnds is null)
return new Route(graph, Array.Empty<Step>().ToList(), false);
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);
PriorityQueue<ulong, int> combinedQueue = toVisitStart;
while(toVisitEnd.TryDequeue(out ulong id, out int prio))
combinedQueue.Enqueue(id, prio);
ValueTuple<Node, Node>? newMeetingEnds = Optimize(additionalExploration, graph, combinedQueue, car, rl, priorityHelper, pathing, startNode.Value, endNode.Value, logger);
meetingEnds = newMeetingEnds ?? meetingEnds;
@ -132,10 +123,10 @@ namespace astar
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 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)
{
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)(currentPathLength * 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)