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Review fixes.

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This commit is contained in:
Lev Dragunov 2016-02-11 15:55:16 +03:00 • committed by Sergey Yershov
parent c8a5ed6a93
commit 29013fc0ac
9 changed files with 86 additions and 74 deletions
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30
routing/base/astar_algorithm.hpp
View file

@ -12,6 +12,13 @@
namespace routing
{
template <typename TVertexType>
struct RoutingResult
{
vector<TVertexType> path;
double distance;
};
template <typename TGraph>
class AStarAlgorithm
{
@ -48,14 +55,13 @@ public:
Result FindPath(TGraphType const & graph,
TVertexType const & startVertex, TVertexType const & finalVertex,
vector<TVertexType> & path,
double & distance,
RoutingResult<TVertexType> & result,
my::Cancellable const & cancellable = my::Cancellable(),
TOnVisitedVertexCallback onVisitedVertexCallback = nullptr) const;
Result FindPathBidirectional(TGraphType const & graph,
TVertexType const & startVertex, TVertexType const & finalVertex,
vector<TVertexType> & path,
RoutingResult<TVertexType> & result,
my::Cancellable const & cancellable = my::Cancellable(),
TOnVisitedVertexCallback onVisitedVertexCallback = nullptr) const;
@ -170,11 +176,12 @@ template <typename TGraph>
typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPath(
TGraphType const & graph,
TVertexType const & startVertex, TVertexType const & finalVertex,
vector<TVertexType> & path,
double & distance,
RoutingResult<TVertexType> & result,
my::Cancellable const & cancellable,
TOnVisitedVertexCallback onVisitedVertexCallback) const
{
result.distance = 0;
result.path.clear();
if (nullptr == onVisitedVertexCallback)
onVisitedVertexCallback = [](TVertexType const &, TVertexType const &){};
@ -206,8 +213,8 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPath(
if (stateV.vertex == finalVertex)
{
ReconstructPath(stateV.vertex, parent, path);
distance = stateV.distance;
ReconstructPath(stateV.vertex, parent, result.path);
result.distance = stateV.distance;
return Result::OK;
}
@ -244,7 +251,7 @@ template <typename TGraph>
typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPathBidirectional(
TGraphType const & graph,
TVertexType const & startVertex, TVertexType const & finalVertex,
vector<TVertexType> & path,
RoutingResult<TVertexType> & result,
my::Cancellable const & cancellable,
TOnVisitedVertexCallback onVisitedVertexCallback) const
{
@ -305,10 +312,11 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPathBidirect
if (curTop + nxtTop >= bestPathReducedLength - kEpsilon)
{
ReconstructPathBidirectional(cur->bestVertex, nxt->bestVertex, cur->parent, nxt->parent,
path);
CHECK(!path.empty(), ());
result.path);
result.distance = bestPathReducedLength;
CHECK(!result.path.empty(), ());
if (!cur->forward)
reverse(path.begin(), path.end());
reverse(result.path.begin(), result.path.end());
return Result::OK;
}
}

21
routing/cross_mwm_road_graph.cpp
View file

@ -130,7 +130,7 @@ IRouter::ResultCode CrossMwmGraph::SetFinalNode(CrossNode const & finalNode)
}
vector<BorderCross> const & CrossMwmGraph::ConstructBorderCross(OutgoingCrossNode const & startNode,
TRoutingMappingPtr const & currentMapping) const
TRoutingMappingPtr const & currentMapping) const
{
// Check cached crosses.
auto const key = make_pair(startNode.m_nodeId, currentMapping->GetMwmId());
@ -148,6 +148,7 @@ bool CrossMwmGraph::ConstructBorderCrossImpl(OutgoingCrossNode const & startNode
TRoutingMappingPtr const & currentMapping,
vector<BorderCross> & crosses) const
{
auto const fromCross = CrossNode(startNode.m_nodeId, currentMapping->GetMwmId(), startNode.m_point);
string const & nextMwm = currentMapping->m_crossContext.GetOutgoingMwmName(startNode);
TRoutingMappingPtr nextMapping = m_indexManager.GetMappingByName(nextMwm);
// If we haven't this routing file, we skip this path.
@ -156,9 +157,13 @@ bool CrossMwmGraph::ConstructBorderCrossImpl(OutgoingCrossNode const & startNode
crosses.clear();
nextMapping->LoadCrossContext();
nextMapping->m_crossContext.ForEachIngoingNodeNearPoint(startNode.m_point, [&](IngoingCrossNode const & node)
{
crosses.emplace_back(CrossNode(startNode.m_nodeId, currentMapping->GetMwmId(), node.m_point),
CrossNode(node.m_nodeId, nextMapping->GetMwmId(), node.m_point));
{
if (node.m_point == startNode.m_point)
{
auto const toCross = CrossNode(node.m_nodeId, nextMapping->GetMwmId(), node.m_point);
if (toCross.IsValid())
crosses.emplace_back(fromCross, toCross);
}
});
return !crosses.empty();
}
@ -187,12 +192,12 @@ void CrossMwmGraph::GetOutgoingEdgesList(BorderCross const & v,
IngoingCrossNode ingoingNode;
bool found = false;
auto findingFn = [&ingoingNode, &v, &found](IngoingCrossNode const & node)
{
{
if (node.m_nodeId == v.toNode.node)
{
{
found = true;
ingoingNode = node;
}
ingoingNode = node;
}
};
CHECK(currentContext.ForEachIngoingNodeNearPoint(v.toNode.point, findingFn), ());

18
routing/cross_mwm_router.cpp
View file

@ -10,8 +10,8 @@ namespace
{
/// Function to run AStar Algorithm from the base.
IRouter::ResultCode CalculateRoute(BorderCross const & startPos, BorderCross const & finalPos,
CrossMwmGraph const & roadGraph, vector<BorderCross> & route,
double & cost, RouterDelegate const & delegate)
CrossMwmGraph const & roadGraph, RoutingResult<BorderCross> & route,
RouterDelegate const & delegate)
{
using TAlgorithm = AStarAlgorithm<CrossMwmGraph>;
@ -23,13 +23,13 @@ IRouter::ResultCode CalculateRoute(BorderCross const & startPos, BorderCross con
my::HighResTimer timer(true);
TAlgorithm::Result const result =
TAlgorithm().FindPath(roadGraph, startPos, finalPos, route, cost, delegate, onVisitedVertex);
TAlgorithm().FindPath(roadGraph, startPos, finalPos, route, delegate, onVisitedVertex);
LOG(LINFO, ("Duration of the cross MWM path finding", timer.ElapsedNano()));
switch (result)
{
case TAlgorithm::Result::OK:
ASSERT_EQUAL(route.front(), startPos, ());
ASSERT_EQUAL(route.back(), finalPos, ());
ASSERT_EQUAL(route.path.front(), startPos, ());
ASSERT_EQUAL(route.path.back(), finalPos, ());
return IRouter::NoError;
case TAlgorithm::Result::NoPath:
return IRouter::RouteNotFound;
@ -88,16 +88,16 @@ IRouter::ResultCode CalculateCrossMwmPath(TRoutingNodes const & startGraphNodes,
return IRouter::EndPointNotFound;
// Finding path through maps.
vector<BorderCross> tempRoad;
code = CalculateRoute({startNode, startNode}, {finalNode, finalNode}, roadGraph, tempRoad, cost,
delegate);
RoutingResult<BorderCross> tempRoad;
code = CalculateRoute({startNode, startNode}, {finalNode, finalNode}, roadGraph, tempRoad, delegate);
cost = tempRoad.distance;
if (code != IRouter::NoError)
return code;
if (delegate.IsCancelled())
return IRouter::Cancelled;
// Final path conversion to output type.
ConvertToSingleRouterTasks(tempRoad, startGraphNode, finalGraphNode, route);
ConvertToSingleRouterTasks(tempRoad.path, startGraphNode, finalGraphNode, route);
return route.empty() ? IRouter::RouteNotFound : IRouter::NoError;
}

6
routing/osrm_router.cpp
View file

@ -318,7 +318,7 @@ OsrmRouter::ResultCode OsrmRouter::CalculateRoute(m2::PointD const & startPoint,
{
LOG(LINFO, ("Found only cross path."));
auto code = MakeRouteFromCrossesPath(finalPath, delegate, route);
LOG(LINFO, ("Make final route", timer.ElapsedNano()));
LOG(LINFO, ("Made final route in", timer.ElapsedNano(), "ns."));
return code;
}
return RouteNotFound;
@ -329,7 +329,7 @@ OsrmRouter::ResultCode OsrmRouter::CalculateRoute(m2::PointD const & startPoint,
{
LOG(LINFO, ("Cross mwm path shorter. Cross cost:", crossCost, "single cost:", routingResult.shortestPathLength));
auto code = MakeRouteFromCrossesPath(finalPath, delegate, route);
LOG(LINFO, ("Make final route", timer.ElapsedNano()));
LOG(LINFO, ("Made final route in", timer.ElapsedNano(), "ns."));
timer.Reset();
return code;
}
@ -373,7 +373,7 @@ OsrmRouter::ResultCode OsrmRouter::CalculateRoute(m2::PointD const & startPoint,
{
indexPair.second->FreeCrossContext();
});
LOG(LINFO, ("Make final route", timer.ElapsedNano()));
LOG(LINFO, ("Made final route in", timer.ElapsedNano(), "ns."));
timer.Reset();
return code;
}

12
routing/road_graph_router.cpp
View file

@ -212,16 +212,16 @@ IRouter::ResultCode RoadGraphRouter::CalculateRoute(m2::PointD const & startPoin
m_roadGraph->AddFakeEdges(startPos, startVicinity);
m_roadGraph->AddFakeEdges(finalPos, finalVicinity);
vector<Junction> path;
RoutingResult<Junction> result;
IRoutingAlgorithm::Result const resultCode =
m_algorithm->CalculateRoute(*m_roadGraph, startPos, finalPos, delegate, path);
m_algorithm->CalculateRoute(*m_roadGraph, startPos, finalPos, delegate, result);
if (resultCode == IRoutingAlgorithm::Result::OK)
{
ASSERT(!path.empty(), ());
ASSERT_EQUAL(path.front(), startPos, ());
ASSERT_EQUAL(path.back(), finalPos, ());
ReconstructRoute(move(path), route, delegate);
ASSERT(!result.path.empty(), ());
ASSERT_EQUAL(result.path.front(), startPos, ());
ASSERT_EQUAL(result.path.back(), finalPos, ());
ReconstructRoute(move(result.path), route, delegate);
}
m_roadGraph->ResetFakes();

7
routing/routing_algorithm.cpp
View file

@ -128,7 +128,7 @@ IRoutingAlgorithm::Result AStarRoutingAlgorithm::CalculateRoute(IRoadGraph const
Junction const & startPos,
Junction const & finalPos,
RouterDelegate const & delegate,
vector<Junction> & path)
RoutingResult<Junction> & path)
{
AStarProgress progress(0, 100);
@ -145,9 +145,8 @@ IRoutingAlgorithm::Result AStarRoutingAlgorithm::CalculateRoute(IRoadGraph const
my::Cancellable const & cancellable = delegate;
progress.Initialize(startPos.GetPoint(), finalPos.GetPoint());
double cost = 0;
TAlgorithmImpl::Result const res = TAlgorithmImpl().FindPath(
RoadGraph(graph), startPos, finalPos, path, cost, cancellable, onVisitJunctionFn);
RoadGraph(graph), startPos, finalPos, path, cancellable, onVisitJunctionFn);
return Convert(res);
}
@ -155,7 +154,7 @@ IRoutingAlgorithm::Result AStarRoutingAlgorithm::CalculateRoute(IRoadGraph const
IRoutingAlgorithm::Result AStarBidirectionalRoutingAlgorithm::CalculateRoute(
IRoadGraph const & graph, Junction const & startPos, Junction const & finalPos,
RouterDelegate const & delegate, vector<Junction> & path)
RouterDelegate const & delegate, RoutingResult<Junction> & path)
{
AStarProgress progress(0, 100);

7
routing/routing_algorithm.hpp
View file

@ -4,6 +4,7 @@
#include "routing/road_graph.hpp"
#include "routing/router.hpp"
#include "routing/base/astar_algorithm.hpp"
#include "std/functional.hpp"
#include "std/string.hpp"
@ -26,7 +27,7 @@ public:
virtual Result CalculateRoute(IRoadGraph const & graph, Junction const & startPos,
Junction const & finalPos, RouterDelegate const & delegate,
vector<Junction> & path) = 0;
RoutingResult<Junction> & path) = 0;
};
string DebugPrint(IRoutingAlgorithm::Result const & result);
@ -38,7 +39,7 @@ public:
// IRoutingAlgorithm overrides:
Result CalculateRoute(IRoadGraph const & graph, Junction const & startPos,
Junction const & finalPos, RouterDelegate const & delegate,
vector<Junction> & path) override;
RoutingResult<Junction> & path) override;
};
// AStar-bidirectional routing algorithm implementation
@ -48,7 +49,7 @@ public:
// IRoutingAlgorithm overrides:
Result CalculateRoute(IRoadGraph const & graph, Junction const & startPos,
Junction const & finalPos, RouterDelegate const & delegate,
vector<Junction> & path) override;
RoutingResult<Junction> & path) override;
};
} // namespace routing

11
routing/routing_tests/astar_algorithm_test.cpp
View file

@ -62,15 +62,14 @@ void TestAStar(UndirectedGraph const & graph, vector<unsigned> const & expectedR
using TAlgorithm = AStarAlgorithm<UndirectedGraph>;
TAlgorithm algo;
double cost = 0;
vector<unsigned> actualRoute;
TEST_EQUAL(TAlgorithm::Result::OK, algo.FindPath(graph, 0u, 4u, actualRoute, cost), ());
TEST_EQUAL(expectedRoute, actualRoute, ());
RoutingResult<unsigned> actualRoute;
TEST_EQUAL(TAlgorithm::Result::OK, algo.FindPath(graph, 0u, 4u, actualRoute), ());
TEST_EQUAL(expectedRoute, actualRoute.path, ());
actualRoute.clear();
actualRoute.path.clear();
TEST_EQUAL(TAlgorithm::Result::OK, algo.FindPathBidirectional(graph, 0u, 4u, actualRoute), ());
TEST_EQUAL(expectedRoute, actualRoute, ());
TEST_EQUAL(expectedRoute, actualRoute.path, ());
}
UNIT_TEST(AStarAlgorithm_Sample)

48
routing/routing_tests/astar_router_test.cpp
View file

@ -29,12 +29,12 @@ void TestAStarRouterMock(Junction const & startPos, Junction const & finalPos,
InitRoadGraphMockSourceWithTest2(graph);
RouterDelegate delegate;
vector<Junction> path;
RoutingResult<Junction> result;
TRoutingAlgorithm algorithm;
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, path), ());
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, result), ());
TEST_EQUAL(expected, path, ());
TEST_EQUAL(expected, result.path, ());
}
void AddRoad(RoadGraphMockSource & graph, double speedKMPH, initializer_list<m2::PointD> const & points)
@ -91,12 +91,12 @@ UNIT_TEST(AStarRouter_SimpleGraph_RouteIsFound)
vector<Junction> const expected = {m2::PointD(0, 0), m2::PointD(0, 30), m2::PointD(0, 60), m2::PointD(40, 100)};
RouterDelegate delegate;
vector<Junction> path;
RoutingResult<Junction> result;
TRoutingAlgorithm algorithm;
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, path), ());
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, result), ());
TEST_EQUAL(expected, path, ());
TEST_EQUAL(expected, result.path, ());
}
UNIT_TEST(AStarRouter_SimpleGraph_RoutesInConnectedComponents)
@ -146,11 +146,11 @@ UNIT_TEST(AStarRouter_SimpleGraph_RoutesInConnectedComponents)
{
RouterDelegate delegate;
Junction const finalPos(roadInfo_2[j].m_points[0]);
vector<Junction> path;
RoutingResult<Junction> result;
TEST_EQUAL(TRoutingAlgorithm::Result::NoPath,
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, path), ());
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, result), ());
TEST_EQUAL(TRoutingAlgorithm::Result::NoPath,
algorithm.CalculateRoute(graph, finalPos, startPos, delegate, path), ());
algorithm.CalculateRoute(graph, finalPos, startPos, delegate, result), ());
}
}
@ -162,11 +162,11 @@ UNIT_TEST(AStarRouter_SimpleGraph_RoutesInConnectedComponents)
{
RouterDelegate delegate;
Junction const finalPos(roadInfo_1[j].m_points[0]);
vector<Junction> path;
RoutingResult<Junction> result;
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, path), ());
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, result), ());
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, finalPos, startPos, delegate, path), ());
algorithm.CalculateRoute(graph, finalPos, startPos, delegate, result), ());
}
}
@ -178,11 +178,11 @@ UNIT_TEST(AStarRouter_SimpleGraph_RoutesInConnectedComponents)
{
RouterDelegate delegate;
Junction const finalPos(roadInfo_2[j].m_points[0]);
vector<Junction> path;
RoutingResult<Junction> result;
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, path), ());
algorithm.CalculateRoute(graph, startPos, finalPos, delegate, result), ());
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, finalPos, startPos, delegate, path), ());
algorithm.CalculateRoute(graph, finalPos, startPos, delegate, result), ());
}
}
}
@ -206,12 +206,12 @@ UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad1)
// path3 = 1/5 + 8/4 + 1/5 = 2.4
RouterDelegate delegate;
vector<Junction> path;
RoutingResult<Junction> result;
TRoutingAlgorithm algorithm;
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, path),
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, result),
());
TEST_EQUAL(path, vector<Junction>({m2::PointD(2,2), m2::PointD(2,3), m2::PointD(4,3), m2::PointD(6,3),
TEST_EQUAL(result.path, vector<Junction>({m2::PointD(2,2), m2::PointD(2,3), m2::PointD(4,3), m2::PointD(6,3),
m2::PointD(8,3), m2::PointD(10,3), m2::PointD(10,2)}), ());
}
@ -233,12 +233,12 @@ UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad2)
// path3 = 1/5 + 8/4.4 + 1/5 = 2.2
RouterDelegate delegate;
vector<Junction> path;
RoutingResult<Junction> result;
TRoutingAlgorithm algorithm;
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, path),
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, result),
());
TEST_EQUAL(path, vector<Junction>({m2::PointD(2,2), m2::PointD(6,2), m2::PointD(10,2)}), ());
TEST_EQUAL(result.path, vector<Junction>({m2::PointD(2,2), m2::PointD(6,2), m2::PointD(10,2)}), ());
}
UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad3)
@ -259,10 +259,10 @@ UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad3)
// path3 = 1/5 + 8/4.9 + 1/5 = 2.03
RouterDelegate delegate;
vector<Junction> path;
RoutingResult<Junction> result;
TRoutingAlgorithm algorithm;
TEST_EQUAL(TRoutingAlgorithm::Result::OK,
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, path),
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, result),
());
TEST_EQUAL(path, vector<Junction>({m2::PointD(2,2), m2::PointD(2,1), m2::PointD(10,1), m2::PointD(10,2)}), ());
TEST_EQUAL(result.path, vector<Junction>({m2::PointD(2,2), m2::PointD(2,1), m2::PointD(10,1), m2::PointD(10,2)}), ());
}