finish basic routing

This commit is contained in:
Laura Klünder 2016-12-17 13:24:42 +01:00
parent 83bf37d748
commit f0f92caffd
2 changed files with 195 additions and 25 deletions

View file

@ -12,6 +12,7 @@ from c3nav.mapdata.models.geometry import LevelConnector
from c3nav.mapdata.models.locations import AreaLocation, Location, LocationGroup, PointLocation
from c3nav.routing.level import GraphLevel
from c3nav.routing.point import GraphPoint
from c3nav.routing.route import RoomRouteSegment, Route, NoRoute, LevelRouteSegment, GraphRouteSegment
class Graph:
@ -215,7 +216,7 @@ class Graph:
def _get_points_by_i(self, points):
return tuple(self.points[i] for i in points)
def _get_index_of_allowed_points(self, points, allowed_points_i):
def _allowed_points_index(self, points, allowed_points_i):
return np.array(tuple(i for i, point in enumerate(points) if point in allowed_points_i))
def get_route(self, origin: Location, destination: Location):
@ -225,8 +226,7 @@ class Graph:
orig_points = self._get_points_by_i(orig_points_i)
dest_points = self._get_points_by_i(dest_points_i)
best_route_distance = float('inf')
best_route = None
best_route = NoRoute
# get routers
graph_router, level_routers, room_routers = self.build_routers()
@ -237,8 +237,8 @@ class Graph:
common_rooms = orig_rooms & dest_rooms
# get origin points for each room (points as point index within room)
orig_room_points = {room: self._get_index_of_allowed_points(room.points, orig_points_i) for room in orig_rooms}
dest_room_points = {room: self._get_index_of_allowed_points(room.points, dest_points_i) for room in dest_rooms}
orig_room_points = {room: self._allowed_points_index(room.points, orig_points_i) for room in orig_rooms}
dest_room_points = {room: self._allowed_points_index(room.points, dest_points_i) for room in dest_rooms}
# if the points have common rooms, search for routes within those rooms
if common_rooms:
@ -248,15 +248,17 @@ class Graph:
distance = shortest_paths.min()
# Is this route better than the previous ones?
if distance >= best_route_distance:
if distance >= best_route.distance:
continue
# noinspection PyTypeChecker
best_route = ('room', room, np.argwhere(shortest_paths == distance)[0])
best_route_distance = distance
from_point, to_point = np.argwhere(shortest_paths == distance)[0]
from_point = orig_room_points[from_point]
to_point = dest_room_points[to_point]
best_route = RoomRouteSegment(room, room_routers[room], from_point, to_point).as_route()
# get reachable room transfer points and their distance
# as a dictionary: global transfer point index => (global index of closest location point, distance)
# as a dictionary: global transfer point index => RoomRouteSegment
orig_room_transfers = self._room_transfers(orig_rooms, orig_room_points, room_routers, mode='orig')
dest_room_transfers = self._room_transfers(dest_rooms, dest_room_points, room_routers, mode='dest')
@ -266,29 +268,68 @@ class Graph:
common_levels = orig_levels & dest_levels
# get reachable roomtransfer points for each level (points as room transfer point index within level)
orig_level_points = {level: self._get_index_of_allowed_points(level.room_transfer_points, orig_room_transfers)
orig_room_transfer_points = {level: self._allowed_points_index(level.room_transfer_points, orig_room_transfers)
for level in orig_levels}
dest_level_points = {level: self._get_index_of_allowed_points(level.room_transfer_points, dest_room_transfers)
dest_room_transfer_points = {level: self._allowed_points_index(level.room_transfer_points, dest_room_transfers)
for level in dest_levels}
# if the points have common rooms, search for routes within thos levels
if common_levels:
for level in common_levels:
o_points = orig_level_points[level]
d_points = dest_level_points[level]
o_points = orig_room_transfer_points[level]
d_points = dest_room_transfer_points[level]
shortest_paths = level_routers[level].shortest_paths[o_points[:, None], d_points]
shortest_paths += np.array(tuple(orig_room_transfers[level.room_transfer_points[in_level_i]][1]
# add distances to the the room transfer points to the rows and columns
shortest_paths += np.array(tuple(orig_room_transfers[level.room_transfer_points[in_level_i]].distance
for in_level_i in o_points))[:, None]
shortest_paths += np.array(tuple(dest_room_transfers[level.room_transfer_points[in_level_i]][1]
shortest_paths += np.array(tuple(dest_room_transfers[level.room_transfer_points[in_level_i]].distance
for in_level_i in d_points))
distance = shortest_paths.min()
# Is this route better than the previous ones?
if distance >= best_route_distance:
if distance >= best_route.distance:
continue
# noinspection PyTypeChecker
best_route = ('level', level, np.argwhere(shortest_paths == distance)[0])
best_route_distance = distance
from_point, to_point = np.argwhere(shortest_paths == distance)[0]
from_point = o_points[from_point]
to_point = d_points[to_point]
best_route = Route((orig_room_transfers[level.room_transfer_points[from_point]],
LevelRouteSegment(level, level_routers[level], from_point, to_point),
dest_room_transfers[level.room_transfer_points[to_point]]), distance=distance)
# get reachable level transfer points and their distance
# as a dictionary: global transfer point index => Route
orig_level_transfers = self._level_transfers(orig_levels, orig_room_transfers, level_routers, mode='orig')
dest_level_transfers = self._level_transfers(orig_levels, dest_room_transfers, level_routers, mode='dest')
# get reachable roomtransfer points for each level (points as room transfer point index within level)
orig_level_transfer_points = self._allowed_points_index(self.level_transfer_points, orig_level_transfers)
dest_level_transfer_points = self._allowed_points_index(self.level_transfer_points, dest_level_transfers)
# search a route within the whole graph
if True:
o_points = orig_level_transfer_points
d_points = dest_level_transfer_points
shortest_paths = graph_router.shortest_paths[o_points[:, None], d_points]
# add distances to the the room transfer points to the rows and columns
shortest_paths += np.array(tuple(orig_level_transfers[self.level_transfer_points[in_graph_i]].distance
for in_graph_i in o_points))[:, None]
shortest_paths += np.array(tuple(dest_level_transfers[self.level_transfer_points[in_graph_i]].distance
for in_graph_i in d_points))
distance = shortest_paths.min()
# Is this route better than the previous ones?
if distance < best_route.distance:
# noinspection PyTypeChecker
from_point, to_point = np.argwhere(shortest_paths == distance)[0]
from_point = o_points[from_point]
to_point = d_points[to_point]
best_route = Route((orig_level_transfers[self.level_transfer_points[from_point]],
GraphRouteSegment(self, graph_router, from_point, to_point),
dest_level_transfers[self.level_transfer_points[to_point]]), distance=distance)
return best_route
@ -309,13 +350,54 @@ class Graph:
# noinspection PyTypeChecker
for from_i, to_i in np.argwhere(shortest_paths != np.inf):
distance = shortest_paths[from_i, to_i]
location_i, transfer_i = (from_i, to_i) if mode == 'orig' else (to_i, from_i)
location_i = room.points[points[location_i]]
transfer_i = room.points[room_transfer_points[transfer_i]]
if transfer_i not in room_transfers or room_transfers[transfer_i][1] < distance:
room_transfers[transfer_i] = (location_i, distance)
from_i = points[from_i] if mode == 'orig' else room_transfer_points[from_i]
to_i = room_transfer_points[to_i] if mode == 'orig' else points[to_i]
transfer_i = room.points[to_i if mode == 'orig' else from_i]
if transfer_i not in room_transfers or room_transfers[transfer_i].distance < distance:
room_transfers[transfer_i] = RoomRouteSegment(room, room_routers[room], from_i, to_i)
return room_transfers
def _level_transfers(self, levels, all_room_transfers, level_routers, mode):
if mode not in ('orig', 'dest'):
raise ValueError
level_transfers = {}
for level in levels:
level_transfer_points = np.array(tuple(level.room_transfer_points.index(point)
for point in level.level_transfer_points))
points, distances = zip(*(tuple((level.room_transfer_points.index(point), segment.distance)
for point, segment in all_room_transfers.items()
if point in level.room_transfer_points)))
points = np.array(points)
distances = np.array(distances)
if mode == 'orig':
shortest_paths = level_routers[level].shortest_paths[points[:, None], level_transfer_points]
shortest_paths += distances[:, None]
else:
shortest_paths = level_routers[level].shortest_paths[level_transfer_points[:, None], points]
shortest_paths += distances
# noinspection PyTypeChecker
for from_i, to_i in np.argwhere(shortest_paths != np.inf):
distance = shortest_paths[from_i, to_i]
from_i = points[from_i] if mode == 'orig' else level_transfer_points[from_i]
to_i = level_transfer_points[to_i] if mode == 'orig' else points[to_i]
transfer_i = level.room_transfer_points[to_i if mode == 'orig' else from_i]
room_transfer_i = level.room_transfer_points[from_i if mode == 'orig' else to_i]
if transfer_i not in level_transfers or level_transfers[transfer_i].distance < distance:
segments = [LevelRouteSegment(level, level_routers[level], from_i, to_i)]
if mode == 'orig':
segments.insert(0, all_room_transfers[room_transfer_i])
else:
segments.append(all_room_transfers[room_transfer_i])
level_transfers[transfer_i] = Route(segments, distance)
return level_transfers
GraphRouter = namedtuple('GraphRouter', ('shortest_paths', 'predecessors', ))

View file

@ -0,0 +1,88 @@
from abc import ABC
import numpy as np
from django.utils.functional import cached_property
class RouteSegment(ABC):
def __init__(self, router, from_point, to_point):
"""
:param router: a Router (RoomRouter, GraphRouter, )
:param from_point: in-router index of first point
:param to_point: in-router index of last point
"""
self.router = router
self.from_point = int(from_point)
self.to_point = int(to_point)
def as_route(self):
return Route([self])
@cached_property
def distance(self):
return self.router.shortest_paths[self.from_point, self.to_point]
class RoomRouteSegment(RouteSegment):
def __init__(self, room, router, from_point, to_point):
"""
Route segment within a Room
:param room: GraphRoom
:param router: RoomRouter
:param from_point: in-room index of first point
:param to_point: in-room index of last point
"""
super().__init__(router, from_point, to_point)
self.room = room
self.global_from_point = room.points[from_point]
self.global_to_point = room.points[to_point]
def __repr__(self):
return ('<RoomRouteSegment in %r from points %d to %d with distance %f>' %
(self.room, self.from_point, self.to_point, self.distance))
class LevelRouteSegment(RouteSegment):
def __init__(self, level, router, from_point, to_point):
"""
Route segment within a Level (from room transfer point to room transfer point)
:param level: GraphLevel
"""
super().__init__(router, from_point, to_point)
self.level = level
self.global_from_point = level.room_transfer_points[from_point]
self.global_to_point = level.room_transfer_points[to_point]
def __repr__(self):
return ('<LevelRouteSegment in %r from points %d to %d with distance %f>' %
(self.level, self.from_point, self.to_point, self.distance))
class GraphRouteSegment(RouteSegment):
def __init__(self, graph, router, from_point, to_point):
"""
Route segment within a Graph (from level transfer point to level transfer point)
:param graph: Graph
"""
super().__init__(router, from_point, to_point)
self.graph = graph
self.global_from_point = graph.level_transfer_points[from_point]
self.global_to_point = graph.level_transfer_points[to_point]
def __repr__(self):
return ('<GraphRouteSegment in %r from points %d to %d with distance %f>' %
(self.graph, self.from_point, self.to_point, self.distance))
class Route:
def __init__(self, segments, distance=None):
self.segments = sum(((item.segments if isinstance(item, Route) else (item, )) for item in segments), ())
self.distance = sum(segment.distance for segment in self.segments)
def __repr__(self):
return ('<Route (\n %s\n) distance=%f>' %
('\n '.join(repr(segment) for segment in self.segments), self.distance))
class NoRoute:
distance = np.inf