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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) double heuristicFewJunctionsPriority, double angleWeightFactor)
{ {
DateTime startCalc = DateTime.Now; DateTime startCalc = DateTime.Now;
regionManager = new RegionManager(workingDir);
_speedType = vehicle; _speedType = vehicle;
OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType); OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType);
OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType); OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType);
@ -60,7 +59,7 @@ public class Pathfinder
if (neighbor is not null) if (neighbor is not null)
{ {
double tentativeGScore = double tentativeGScore =
gScore[currentNode] + Weight(currentNode, neighbor, edge, angleWeightFactor); gScore[currentNode] + Weight(currentNode, neighbor, edge);
gScore.TryAdd(neighbor, double.MaxValue); gScore.TryAdd(neighbor, double.MaxValue);
if (tentativeGScore < gScore[neighbor]) if (tentativeGScore < gScore[neighbor])
{ {
@ -80,7 +79,7 @@ public class Pathfinder
return this; 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 distance = Utils.DistanceBetween(currentNode, neighborNode);
double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType); double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
@ -89,13 +88,13 @@ public class Pathfinder
if (_cameFromDict!.ContainsKey(currentNode)) if (_cameFromDict!.ContainsKey(currentNode))
{ {
OsmNode previousNode = _cameFromDict[currentNode]; OsmNode previousNode = _cameFromDict[currentNode];
Vector v1 = new(previousNode, currentNode); Vector v1 = new(currentNode, previousNode);
Vector v2 = new(currentNode, neighborNode); Vector v2 = new(currentNode, neighborNode);
double nodeAngle = v1.Angle(v2); double nodeAngle = v1.Angle(v2);
angle = ((180 - nodeAngle) / 180) * angleWeightFactor; angle = (nodeAngle / 180);
} }
double prio = regionManager.GetPriorityForVehicle(_speedType,edge, currentNode); 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) private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor, double nodeAngleFactor)