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adjusting pathfinding costs, trying to figure out why walking routes are awful

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This commit is contained in:
Dustin Carlino 2018-11-29 16:19:55 -08:00
parent ecc5a6efb1
commit 87a357d67c
2 changed files with 32 additions and 19 deletions
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47
map_model/src/pathfind.rs
View File

@ -361,6 +361,8 @@ impl Pathfinder {
}
fn pathfind(&self, map: &Map, start: Position, end: Position) -> Option<Vec<InternalPathStep>> {
let debug = start.lane().0 == 1871 && end.lane().0 == 1913;
if start.lane() == end.lane() {
if start.dist_along() > end.dist_along() {
if !map.get_l(start.lane()).is_sidewalk() {
@ -373,30 +375,34 @@ impl Pathfinder {
// This should be deterministic, since cost ties would be broken by PathStep.
let mut queue: BinaryHeap<(NotNaN<f64>, InternalPathStep)> = BinaryHeap::new();
let start_len = map.get_l(start.lane()).length();
if map.get_l(start.lane()).is_sidewalk() {
if start.dist_along() != map.get_l(start.lane()).length() {
queue.push((
NotNaN::new(-0.0).unwrap(),
InternalPathStep::Lane(start.lane()),
));
if start.dist_along() != start_len {
let step = InternalPathStep::Lane(start.lane());
let cost = start_len - start.dist_along();
let heuristic = step.heuristic(self.goal_pt, map);
queue.push((dist_to_pri_queue(cost + heuristic), step));
}
if start.dist_along() != 0.0 * si::M {
queue.push((
NotNaN::new(-0.0).unwrap(),
InternalPathStep::ContraflowLane(start.lane()),
));
let step = InternalPathStep::ContraflowLane(start.lane());
let cost = start.dist_along();
let heuristic = step.heuristic(self.goal_pt, map);
queue.push((dist_to_pri_queue(cost + heuristic), step));
}
} else {
queue.push((
NotNaN::new(-0.0).unwrap(),
InternalPathStep::Lane(start.lane()),
));
let step = InternalPathStep::Lane(start.lane());
let cost = start_len - start.dist_along();
let heuristic = step.heuristic(self.goal_pt, map);
queue.push((dist_to_pri_queue(cost + heuristic), step));
}
let mut backrefs: HashMap<InternalPathStep, InternalPathStep> = HashMap::new();
while !queue.is_empty() {
let (cost_sofar, current) = queue.pop().unwrap();
if debug {
println!("considering {:?} with cost {}", current, cost_sofar);
}
// Found it, now produce the path
if current == InternalPathStep::Lane(end.lane())
@ -422,12 +428,10 @@ impl Pathfinder {
backrefs.insert(next, current);
let cost = next.cost(map);
let heuristic = next.heuristic(self.goal_pt, map);
// Negate since BinaryHeap is a max-heap.
queue.push((
NotNaN::new(-1.0).unwrap()
* (NotNaN::new((cost + heuristic).value_unsafe).unwrap() + cost_sofar),
next,
));
if debug {
println!(" next step {:?} with cost+heuristic {}", next, cost + heuristic);
}
queue.push((dist_to_pri_queue(cost + heuristic) + cost_sofar, next));
}
}
}
@ -476,3 +480,8 @@ fn validate(map: &Map, steps: &Vec<PathStep>) {
}
}
}
// Negate since BinaryHeap is a max-heap.
fn dist_to_pri_queue(dist: si::Meter<f64>) -> NotNaN<f64> {
NotNaN::new(-1.0 * dist.value_unsafe).unwrap()
}

4
sim/src/spawn.rs
View File

@ -554,6 +554,10 @@ impl Spawner {
let ped_id = PedestrianID(self.ped_id_counter);
self.ped_id_counter += 1;
if ped_id.0 == 31 {
println!("p31 is going from {:?} to {:?}", start, goal);
}
let first_stop = SidewalkSpot::bus_stop(stop1, map);
let legs = vec![
TripLeg::Walk(first_stop.clone()),