-
Notifications
You must be signed in to change notification settings - Fork 57
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
* Set version to 21.0 * applications for Sievekingplatz have been put in wrong dir Signed-off-by: Karl Schrab <[email protected]>
- Loading branch information
Showing
34 changed files
with
224 additions
and
33 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| Copyright (c) 2021 Fraunhofer FOKUS and others. All rights reserved. | ||
|
|
||
| See the NOTICE file(s) distributed with this work for additional | ||
| information regarding copyright ownership. | ||
|
|
||
| This program and the accompanying materials are made available under the | ||
| terms of the Eclipse Public License 2.0 which is available at | ||
| http://www.eclipse.org/legal/epl-2.0 | ||
|
|
||
| SPDX-License-Identifier: EPL-2.0 | ||
|
|
||
| Contact: [email protected] |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
178 changes: 178 additions & 0 deletions
178
lib/mosaic-geomath/src/main/java/org/eclipse/mosaic/lib/spatial/AStar.java
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,178 @@ | ||
| /* | ||
| * Copyright (c) 2021 Fraunhofer FOKUS and others. All rights reserved. | ||
| * | ||
| * See the NOTICE file(s) distributed with this work for additional | ||
| * information regarding copyright ownership. | ||
| * | ||
| * This program and the accompanying materials are made available under the | ||
| * terms of the Eclipse Public License 2.0 which is available at | ||
| * http://www.eclipse.org/legal/epl-2.0 | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| * | ||
| * Contact: [email protected] | ||
| */ | ||
|
|
||
| package org.eclipse.mosaic.lib.spatial; | ||
|
|
||
| import org.eclipse.mosaic.lib.geo.Point; | ||
|
|
||
| import java.util.ArrayList; | ||
| import java.util.Collections; | ||
| import java.util.HashMap; | ||
| import java.util.HashSet; | ||
| import java.util.List; | ||
| import java.util.Map; | ||
| import java.util.PriorityQueue; | ||
| import java.util.Set; | ||
|
|
||
| /** | ||
| * Generic implementation of a node-based A* algorithm for routing across {@link Point} based road networks. In order to use | ||
| * this, the routing network has to be presented as a list of network nodes implementing {@link AStar.Node}. The | ||
| * routing behavior can be influenced by the costs returned by the node implementation. | ||
| */ | ||
| public class AStar<T extends AStar.Node<T, P>, P extends Point<P>> { | ||
|
|
||
| private final PriorityQueue<CostNode> openList = new PriorityQueue<>(); | ||
| private final Map<Node<T, P>, CostNode> openListNodes = new HashMap<>(); | ||
| private final Set<Node<T, P>> closedList = new HashSet<>(); | ||
|
|
||
| public List<T> route(Node<T, P> from, Node<T, P> to) { | ||
| CostNode destinationNode = null; | ||
| closedList.clear(); | ||
| openList.clear(); | ||
| boolean routeFound = false; | ||
|
|
||
| openList.add(new CostNode(from, 0)); | ||
| // loop until destination is found or no candidates are left in open list | ||
| while (!openList.isEmpty()) { | ||
| // get node with smallest f from open list (and remove it from open list) | ||
| CostNode current = openList.poll(); | ||
| openListNodes.remove(current.node); | ||
| if (current.node == to) { | ||
| // route found | ||
| routeFound = true; | ||
| destinationNode = current; | ||
| break; | ||
| } | ||
|
|
||
| // add succeeding nodes to open list | ||
| expandNode(current, to); | ||
|
|
||
| // current node is examined | ||
| closedList.add(current.node); | ||
| } | ||
|
|
||
| if (routeFound) { | ||
| List<T> route = new ArrayList<>(); | ||
| CostNode routeNode = destinationNode; | ||
| route.add(routeNode.node.getSelf()); | ||
| while (routeNode.predecessor != null) { | ||
| routeNode = routeNode.predecessor; | ||
| route.add(routeNode.node.getSelf()); | ||
| } | ||
| Collections.reverse(route); | ||
| return route; | ||
| } else { | ||
| return null; | ||
| } | ||
| } | ||
|
|
||
| private void expandNode(CostNode node, Node<T, P> dest) { | ||
| for (Node<T, P> nextNode : node.node.getNexts()) { | ||
| if (closedList.contains(nextNode)) { | ||
| // node is already fully evaluated - skip it | ||
| continue; | ||
| } | ||
|
|
||
| double temporaryCosts = node.costs + node.node.getCost(nextNode); | ||
| double estimatedCostsToDestination = temporaryCosts + node.node.estimateCost(dest); | ||
|
|
||
| // check if next node is already in open list | ||
| CostNode nextCostNode = openListNodes.get(nextNode); | ||
| if (nextCostNode == null) { | ||
| // node is not yet in open list - add it | ||
| nextCostNode = new CostNode(nextNode, estimatedCostsToDestination); | ||
| nextCostNode.costs = temporaryCosts; | ||
| nextCostNode.predecessor = node; | ||
| openList.add(nextCostNode); | ||
| openListNodes.put(nextNode, nextCostNode); | ||
|
|
||
| } else if (temporaryCosts < nextCostNode.costs) { | ||
| // next node is already in open list but this way is cheaper | ||
| // remove and re-add node with updated weight to maintain queue order | ||
| openList.remove(nextCostNode); | ||
| nextCostNode.estimate = estimatedCostsToDestination; | ||
| nextCostNode.costs = temporaryCosts; | ||
| nextCostNode.predecessor = node; | ||
| openList.add(nextCostNode); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| private class CostNode implements Comparable<CostNode> { | ||
| /** | ||
| * cost of the cheapest path from start to node | ||
| */ | ||
| private double costs; | ||
| /** | ||
| * best guess of total cost of path from start to destination if it goes through node | ||
| */ | ||
| private double estimate; | ||
|
|
||
| private final Node<T, P> node; | ||
| private CostNode predecessor; | ||
|
|
||
| private CostNode(Node<T, P> node, double estimatedCostsToDestination) { | ||
| this.node = node; | ||
| this.estimate = estimatedCostsToDestination; | ||
| this.costs = 0; | ||
| } | ||
|
|
||
| @Override | ||
| public int compareTo(CostNode o) { | ||
| return Double.compare(estimate, o.estimate); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * A* routing network node. | ||
| */ | ||
| public interface Node<T extends Node<T, P>, P extends Point<P>> { | ||
|
|
||
| T getSelf(); | ||
|
|
||
| P getPosition(); | ||
|
|
||
| /** | ||
| * Returns a list of network nodes directly reachable from this node. | ||
| */ | ||
| List<? extends Node<T, P>> getNexts(); | ||
|
|
||
| /** | ||
| * Returns the exact cost between adjacent network nodes. | ||
| * <p> | ||
| * Costs are typically based on distance: traveling from one node to another is cheap if the nodes are | ||
| * very close and expensive if they are far apart. However there might be other factors influencing the | ||
| * cost: e.g. travel speed, road capacity, etc. | ||
| */ | ||
| default double getCost(Node<T, P> nextNode) { | ||
| return getPosition().distanceTo(nextNode.getPosition()); | ||
| } | ||
|
|
||
| /** | ||
| * Returns the estimated cost in order to reach the final destination node from this node. | ||
| * <p> | ||
| * The estimated cost must be lower or equal to the exact cost. If the returned value is higher than the final | ||
| * exact cost would be this node might be excluded from the routing graph before the exact cost is known | ||
| * and a potentially more expensive route might win. | ||
| * <p> | ||
| * Typically, the cost is estimated by using the straight line distance between this node and the destination | ||
| * node. However, care must be taken if exact costs between nodes do not only depend on distance but consider | ||
| * other factors (travel speed, ...) as well. | ||
| */ | ||
| default double estimateCost(Node<T, P> destinationNode) { | ||
| return getPosition().distanceTo(destinationNode.getPosition()); | ||
| } | ||
| } | ||
| } |
Oops, something went wrong.