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Inverse Angle

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glax 2023-04-21 14:28:02 +02:00
parent 95c0088b73
commit aa8b1e4451
1 changed files with 5 additions and 6 deletions
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11
Pathfinding/Pathfinder.cs
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@ -28,7 +28,6 @@ public class Pathfinder
double heuristicFewJunctionsPriority, double angleWeightFactor)
{
DateTime startCalc = DateTime.Now;
regionManager = new RegionManager(workingDir);
_speedType = vehicle;
OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType);
OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType);
@ -60,7 +59,7 @@ public class Pathfinder
if (neighbor is not null)
{
double tentativeGScore =
gScore[currentNode] + Weight(currentNode, neighbor, edge, angleWeightFactor);
gScore[currentNode] + Weight(currentNode, neighbor, edge);
gScore.TryAdd(neighbor, double.MaxValue);
if (tentativeGScore < gScore[neighbor])
{
@ -80,7 +79,7 @@ public class Pathfinder
return this;
}
private double Weight(OsmNode currentNode, OsmNode neighborNode, OsmEdge edge, double angleWeightFactor)
private double Weight(OsmNode currentNode, OsmNode neighborNode, OsmEdge edge)
{
double distance = Utils.DistanceBetween(currentNode, neighborNode);
double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
@ -89,13 +88,13 @@ public class Pathfinder
if (_cameFromDict!.ContainsKey(currentNode))
{
OsmNode previousNode = _cameFromDict[currentNode];
Vector v1 = new(previousNode, currentNode);
Vector v1 = new(currentNode, previousNode);
Vector v2 = new(currentNode, neighborNode);
double nodeAngle = v1.Angle(v2);
angle = ((180 - nodeAngle) / 180) * angleWeightFactor;
angle = (nodeAngle / 180);
}
double prio = regionManager.GetPriorityForVehicle(_speedType,edge, currentNode);
return distance / (1 + speed + angle + prio);
return distance / (1 + speed * angle);
}
private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor, double nodeAngleFactor)