From 2bd6c5d9c4d8cd7904453a9db270521d565774fe Mon Sep 17 00:00:00 2001 From: glax Date: Thu, 20 Apr 2023 22:58:27 +0200 Subject: [PATCH] Replaced local vars with fields. --- Pathfinding/Pathfinder.cs | 36 +++++++++++++++++++----------------- 1 file changed, 19 insertions(+), 17 deletions(-) diff --git a/Pathfinding/Pathfinder.cs b/Pathfinding/Pathfinder.cs index 4511e50..d58efea 100644 --- a/Pathfinding/Pathfinder.cs +++ b/Pathfinding/Pathfinder.cs @@ -6,7 +6,6 @@ using WayType = OSMDatastructure.Tag.WayType; namespace Pathfinding; -//TODO check parameters for all functions and determine global fields public class Pathfinder { @@ -14,6 +13,8 @@ public class Pathfinder public readonly string workingDir; public PathResult? pathResult; public Dictionary? gScore; + private Dictionary? cameFromDict; + private SpeedType _speedType; public Pathfinder(string workingDirectory) { @@ -29,8 +30,9 @@ public class Pathfinder { DateTime startCalc = DateTime.Now; regionManager = new RegionManager(workingDir); - OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, vehicle); - OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, vehicle); + _speedType = vehicle; + OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType); + OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType); if (startNode is null || goalNode is null) { pathResult = new(DateTime.Now - startCalc, new List()); @@ -39,8 +41,8 @@ public class Pathfinder PriorityQueue openSetfScore = new(); openSetfScore.Enqueue(startNode, 0); - Dictionary cameFromDict = new(); gScore = new() { { startNode, 0 } }; + cameFromDict = new(); while (openSetfScore.Count > 0) { @@ -48,7 +50,7 @@ public class Pathfinder if (currentNode.Equals(goalNode)) { Console.WriteLine("Path found."); - this.pathResult = GetPath(cameFromDict, goalNode, DateTime.Now - startCalc); + this.pathResult = GetPath(goalNode, DateTime.Now - startCalc); return this; } @@ -58,14 +60,14 @@ public class Pathfinder if (neighbor is not null) { double tentativeGScore = - gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle); + gScore[currentNode] + Weight(currentNode, neighbor, edge); gScore.TryAdd(neighbor, double.MaxValue); if (tentativeGScore < gScore[neighbor]) { if(!cameFromDict.TryAdd(neighbor, currentNode)) cameFromDict[neighbor] = currentNode; gScore[neighbor] = tentativeGScore; - double h = Heuristic(currentNode, neighbor, goalNode, edge, vehicle, + double h = Heuristic(currentNode, neighbor, goalNode, edge, heuristicRoadLevelPriority, heuristicFewJunctionsPriority, heuristicSameRoadPriority); //Console.WriteLine($"Queue: {openSetfScore.Count:00000} Current Distance: {Utils.DistanceBetween(currentNode, goalNode):000000.00} Visited: {cameFromDict.Count:00000} Current heuristic: {h:00000.00}"); openSetfScore.Enqueue(neighbor, tentativeGScore + h); @@ -86,11 +88,11 @@ public class Pathfinder Console.WriteLine($"Saved result to {path}"); } - private PathResult GetPath(Dictionary cameFromDict, OsmNode goalNode, TimeSpan calcFinished) + private PathResult GetPath(OsmNode goalNode, TimeSpan calcFinished) { List path = new(); OsmNode currentNode = goalNode; - while (cameFromDict.ContainsKey(cameFromDict[currentNode])) + while (cameFromDict!.ContainsKey(cameFromDict[currentNode])) { OsmEdge? currentEdge = cameFromDict[currentNode].edges.First(edge => edge.neighborId == currentNode.nodeId); HashSet? tags = @@ -106,17 +108,17 @@ public class Pathfinder return new PathResult(calcFinished, path); } - private double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge, SpeedType vehicle) + private double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge) { double distance = Utils.DistanceBetween(fromNode, neighborNode); - double speed = regionManager.GetSpeedForEdge(fromNode, edge.wayId, vehicle); + double speed = regionManager.GetSpeedForEdge(fromNode, edge.wayId, _speedType); //double prio = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!); return distance / speed; } - private double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, SpeedType vehicle, double roadPriorityFactor, double junctionFactor, double sameRoadFactor) + private double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor) { - double roadPriority = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!) * roadPriorityFactor; + double roadPriority = GetPriorityVehicleRoad(edge, regionManager.GetRegion(fromNode.coordinates)!) * roadPriorityFactor; TagManager curTags = regionManager.GetRegion(fromNode.coordinates)!.tagManager; TagManager nextTags = regionManager.GetRegion(neighborNode.coordinates)!.tagManager; @@ -140,14 +142,14 @@ public class Pathfinder return Utils.DistanceBetween(neighborNode, goalNode) / (1 + roadPriority + sameRoadName + junctionCount); } - private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region) + private double GetPriorityVehicleRoad(OsmEdge edge, Region region) { - if (vehicle == SpeedType.any) + if (_speedType == SpeedType.any) return 1; WayType? wayType = (WayType?)region.tagManager.GetTag(edge.wayId, TagType.highway); if(wayType is null) return 0; - if (vehicle == SpeedType.car) + if (_speedType == SpeedType.car) { switch (wayType) { @@ -175,7 +177,7 @@ public class Pathfinder return 0.0001; } } - if (vehicle == SpeedType.pedestrian) + if (_speedType == SpeedType.pedestrian) { switch (wayType) {