fix routing graph construction and calculation of shortest route

pageldev / libOpenDRIVE

Small, lightweight C++ library for handling OpenDRIVE files

Apache License 2.0

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fix routing graph construction and calculation of shortest route #87

Open markomiz opened 8 months ago

markomiz commented 8 months ago

fixes the issue #77 :

https://github.com/pageldev/libOpenDRIVE/issues/77

Changes:

added operators == and != to lanekeys
reimplemented get_routing_graph (using existing junction parsing)
reimplemented shortest_path

pageldev commented 7 months ago

Looks good. Maybe @Novadgaf can confirm that this fixes his issue?

Also can you run some tests on the default data.xodr odrviewer.io uses? Ideally running your routing on some start/end combinations and checking if they are correct / as expected.

markomiz commented 7 months ago

@pageldev I've tested on many carla maps now and some other maps I have access to - it is working reliably now. One thing that could be improved in the future however is allowing lane changes to neighbouring lanes as part of the routing which isn't currently possible.