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AStar result distance fix.

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Lev Dragunov 2016-03-10 15:38:44 +03:00 • committed by Sergey Yershov
parent c04a68cf8a
commit c4141880f8
2 changed files with 11 additions and 9 deletions
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14
routing/base/astar_algorithm.hpp
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@ -221,7 +221,7 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPath(
if (stateV.vertex == finalVertex)
{
ReconstructPath(stateV.vertex, parent, result.path);
result.distance = stateV.distance;
result.distance = stateV.distance - graph.HeuristicCostEstimate(stateV.vertex, finalVertex) + graph.HeuristicCostEstimate(startVertex, finalVertex);
ASSERT_EQUAL(graph.HeuristicCostEstimate(stateV.vertex, finalVertex), 0, ());
return Result::OK;
}
@ -271,6 +271,7 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPathBidirect
bool foundAnyPath = false;
double bestPathReducedLength = 0.0;
double bestPathRealLength = 0.0;
forward.bestDistance[startVertex] = 0.0;
forward.queue.push(State(startVertex, 0.0 /* distance */));
@ -321,11 +322,7 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPathBidirect
{
ReconstructPathBidirectional(cur->bestVertex, nxt->bestVertex, cur->parent, nxt->parent,
result.path);
result.distance = bestPathReducedLength;
if (curTop > 0)
result.distance -= cur->ConsistentHeuristic(nxt->bestVertex);
if (nxtTop > 0)
result.distance -= nxt->ConsistentHeuristic(nxt->bestVertex);
result.distance = bestPathRealLength;
CHECK(!result.path.empty(), ());
if (!cur->forward)
reverse(result.path.begin(), result.path.end());
@ -372,6 +369,11 @@ typename AStarAlgorithm<TGraph>::Result AStarAlgorithm<TGraph>::FindPathBidirect
if (!foundAnyPath || bestPathReducedLength > curPathReducedLength)
{
bestPathReducedLength = curPathReducedLength;
bestPathRealLength = stateV.distance + len + distW;
bestPathRealLength += cur->pS - pV;
bestPathRealLength += nxt->pS - nxt->ConsistentHeuristic(stateW.vertex);
foundAnyPath = true;
cur->bestVertex = stateV.vertex;
nxt->bestVertex = stateW.vertex;

6
routing/routing_tests/astar_router_test.cpp
View file

@ -213,7 +213,7 @@ UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad1)
());
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)}), ());
TEST(my::AlmostEqualAbs(result.distance, 159655., 1.), ("Distance error:", result.distance));
TEST(my::AlmostEqualAbs(result.distance, 800451., 1.), ("Distance error:", result.distance));
}
UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad2)
@ -240,7 +240,7 @@ UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad2)
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, result),
());
TEST_EQUAL(result.path, vector<Junction>({m2::PointD(2,2), m2::PointD(6,2), m2::PointD(10,2)}), ());
TEST(my::AlmostEqualAbs(result.distance, 140663., 1.), ("Distance error:", result.distance));
TEST(my::AlmostEqualAbs(result.distance, 781458., 1.), ("Distance error:", result.distance));
}
UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad3)
@ -267,5 +267,5 @@ UNIT_TEST(AStarRouter_SimpleGraph_PickTheFasterRoad3)
algorithm.CalculateRoute(graph, m2::PointD(2, 2), m2::PointD(10, 2), delegate, result),
());
TEST_EQUAL(result.path, vector<Junction>({m2::PointD(2,2), m2::PointD(2,1), m2::PointD(10,1), m2::PointD(10,2)}), ());
TEST(my::AlmostEqualAbs(result.distance, 173616., 1.), ("Distance error:", result.distance));
TEST(my::AlmostEqualAbs(result.distance, 814412., 1.), ("Distance error:", result.distance));
}