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[routing] Bidirectional Astar optimization

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Добрый Ээх 2017-04-14 18:02:04 +03:00 • committed by Vladimir Byko-Ianko
parent 06d2506c41
commit 9046058f42
1 changed files with 6 additions and 4 deletions
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10
routing/base/astar_algorithm.hpp
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@ -110,6 +110,8 @@ private:
BidirectionalStepContext(bool forward, TVertexType const & startVertex,
TVertexType const & finalVertex, TGraphType & graph)
: forward(forward), startVertex(startVertex), finalVertex(finalVertex), graph(graph)
, m_piRT(graph.HeuristicCostEstimate(finalVertex, startVertex))
, m_piFS(graph.HeuristicCostEstimate(startVertex, finalVertex))
{
bestVertex = forward ? startVertex : finalVertex;
pS = ConsistentHeuristic(bestVertex);
@ -128,19 +130,17 @@ private:
{
double const piF = graph.HeuristicCostEstimate(v, finalVertex);
double const piR = graph.HeuristicCostEstimate(v, startVertex);
double const piRT = graph.HeuristicCostEstimate(finalVertex, startVertex);
double const piFS = graph.HeuristicCostEstimate(startVertex, finalVertex);
if (forward)
{
/// @todo careful: with this "return" here and below in the Backward case
/// the heuristic becomes inconsistent but still seems to work.
/// return HeuristicCostEstimate(v, finalVertex);
return 0.5 * (piF - piR + piRT);
return 0.5 * (piF - piR + m_piRT);
}
else
{
// return HeuristicCostEstimate(v, startVertex);
return 0.5 * (piR - piF + piFS);
return 0.5 * (piR - piF + m_piFS);
}
}
@ -156,6 +156,8 @@ private:
TVertexType const & startVertex;
TVertexType const & finalVertex;
TGraph & graph;
double const m_piRT;
double const m_piFS;
priority_queue<State, vector<State>, greater<State>> queue;
map<TVertexType, double> bestDistance;