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Fixed AStar Weight-assignment

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OSMEdge.cs:
renamed speedped, speedcar
This commit is contained in:
C9Glax 2023-02-08 19:05:13 +01:00
parent d18e4f5abf
commit f15171a9f1
2 changed files with 38 additions and 30 deletions
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42
OSMDatastructure/OSMEdge.cs
View File

@ -44,7 +44,7 @@ public class OsmEdge
highway, oneway, footway, sidewalk, cycleway, busway, forward, maxspeed, name, surface, lanes, access, tracktype, id, EMPTY
}
public static Dictionary<wayType, byte> speedcar = new() {
private static readonly Dictionary<wayType, byte> defaultSpeedCar = new() {
{ wayType.NONE, 0 },
{ wayType.motorway, 110 },
{ wayType.trunk, 100 },
@ -76,7 +76,7 @@ public class OsmEdge
{ wayType.construction, 0 }
};
public static Dictionary<wayType, byte> speedped = new() {
private static readonly Dictionary<wayType, byte> defaultSpeedPedestrian = new() {
{ wayType.NONE, 0 },
{ wayType.motorway, 0 },
{ wayType.trunk, 0 },
@ -115,7 +115,7 @@ public class OsmEdge
{
KeyValuePair<tagType, object> tag = ConvertToTag(key, value);
if(tag.Key != tagType.EMPTY)
this.tags.Add(tag.Key, tag.Value);
tags.Add(tag.Key, tag.Value);
}
public static KeyValuePair<tagType, object> ConvertToTag(string key, string value)
@ -165,32 +165,34 @@ public class OsmEdge
public ulong GetId()
{
return this.tags.ContainsKey(tagType.id) ? (ulong)this.tags[tagType.id] : 0;
return tags.ContainsKey(tagType.id) ? (ulong)tags[tagType.id] : 0;
}
public wayType GetHighwayType()
{
return this.tags.ContainsKey(tagType.highway) ? (wayType)this.tags[tagType.highway] : wayType.NONE;
{
if (!tags.ContainsKey(tagType.highway))
throw new Exception("Not a road?");
return (wayType)tags[tagType.highway];
}
public bool IsOneWay()
{
return this.tags.ContainsKey(tagType.oneway) && (bool)this.tags[tagType.oneway];
return tags.ContainsKey(tagType.oneway) && (bool)tags[tagType.oneway];
}
public byte? GetMaxSpeed(speedType type)
public byte GetMaxSpeed(speedType type)
{
if(type == speedType.road)
switch (type)
{
return this.tags.ContainsKey(tagType.maxspeed) ? (byte)this.tags[tagType.maxspeed] : null;
case speedType.road:
return tags.ContainsKey(tagType.maxspeed) ? (byte)tags[tagType.maxspeed] : (byte)0;
case speedType.car:
return tags.ContainsKey(tagType.maxspeed) ? (byte)tags[tagType.maxspeed] : defaultSpeedCar[GetHighwayType()];
case speedType.pedestrian:
return defaultSpeedPedestrian[GetHighwayType()];
default:
return 0;
}
if(type == speedType.car)
{
return this.tags.ContainsKey(tagType.maxspeed)
? (byte)this.tags[tagType.maxspeed]
: speedcar[this.GetHighwayType()];
}
return speedped[this.GetHighwayType()];
}
public bool IsForward()
@ -201,11 +203,11 @@ public class OsmEdge
public double GetWeight(OsmNode parentNode, speedType vehicle)
{
double distance = Utils.DistanceBetween(parentNode, neighborCoordinates);
byte? speedByte = GetMaxSpeed(vehicle);
if (speedByte != null && speedByte > 0)
byte speedByte = GetMaxSpeed(vehicle);
if (speedByte > 0)
{
double speed = Convert.ToDouble(speedByte);
return distance / (speed * 1000 / 360);
return distance / speed;
}
else
{

26
Pathfinding/Pathfinder.cs
View File

@ -6,7 +6,7 @@ namespace Pathfinding;
public class Pathfinder
{
public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal)
public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, OsmEdge.speedType vehicle)
{
RegionManager regionManager = new RegionManager(workingDir);
Region startRegion, goalRegion;
@ -32,6 +32,7 @@ public class Pathfinder
while (toVisit.Count > 0 && !stop)
{
Console.WriteLine("toVisit-length: {0}", toVisit.Count);
closestNodeToGoal = toVisit.First();
foreach (OsmNode node in toVisit)
{
@ -48,16 +49,20 @@ public class Pathfinder
foreach (OsmEdge edge in closestNodeToGoal.edges)
{
OsmNode? neighbor = regionManager.GetNode(edge.neighborCoordinates);
if (neighbor != null && neighbor.currentPathWeight > closestNodeToGoal.currentPathWeight + Utils.DistanceBetween(closestNodeToGoal, neighbor))
if (neighbor != null)
{
neighbor.previousPathNode = closestNodeToGoal;
neighbor.currentPathWeight = closestNodeToGoal.currentPathWeight +
Utils.DistanceBetween(closestNodeToGoal, neighbor);
double newPotentialWeight =
closestNodeToGoal.currentPathWeight + edge.GetWeight(closestNodeToGoal, vehicle);
if (neighbor.currentPathWeight > newPotentialWeight)
{
neighbor.previousPathNode = closestNodeToGoal;
neighbor.currentPathWeight = newPotentialWeight;
if (neighbor.Equals(goalNode))
stop = true;
else
toVisit.Add(neighbor);
if (neighbor.Equals(goalNode))
stop = true;
else
toVisit.Add(neighbor);
}
}
}
@ -72,7 +77,8 @@ public class Pathfinder
currentNode = currentNode.previousPathNode;
}
path.Add(startNode);
path.Reverse();
return path;
}