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[routing] Bicycle turn penalties
Signed-off-by: Henry Sternberg <henry@bluelightmaps.com>
This commit is contained in:
Henry Sternberg
x7z4w
@@ -199,7 +199,7 @@ EdgeEstimator::EdgeEstimator(VehicleType vehicleType, double maxWeightSpeedKMpH,
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double penalty;
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};
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#define N 144
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#define N 288
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static auto constexpr kTurnPenaltyMatrix = []
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{
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@@ -348,6 +348,150 @@ EdgeEstimator::EdgeEstimator(VehicleType vehicleType, double maxWeightSpeedKMpH,
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{HighwayType::HighwayUnclassified, HighwayType::HighwayTrunk, VehicleType::Car, 0.09},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayTrunkLink, VehicleType::Car, 0.09},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayUnclassified, VehicleType::Car, 0.08},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayService, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayLivingStreet, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayPrimary, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.11},
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{HighwayType::HighwayPrimary, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayPrimary, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayPrimary, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayPrimary, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayPrimary, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayPrimary, HighwayType::HighwayService, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayPrimary, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayPrimary, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayPrimary, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.04},
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{HighwayType::HighwayPrimary, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.04},
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{HighwayType::HighwayPrimary, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayService, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayPrimaryLink, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayResidential, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayResidential, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayResidential, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayResidential, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayResidential, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayResidential, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayResidential, HighwayType::HighwayService, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayResidential, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayResidential, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayResidential, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayResidential, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayResidential, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondary, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwaySecondary, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondary, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondary, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwaySecondary, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwaySecondary, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwaySecondary, HighwayType::HighwayService, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwaySecondary, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondary, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondary, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondary, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwaySecondary, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.05},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.05},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayService, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.05},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.05},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwaySecondaryLink, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayService, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayService, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayService, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwayService, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayService, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTertiary, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTertiary, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayService, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiary, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayService, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTertiaryLink, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTrunk, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayTrunk, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.05},
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{HighwayType::HighwayTrunk, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.03},
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{HighwayType::HighwayTrunk, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayTrunk, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTrunk, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTrunk, HighwayType::HighwayService, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTrunk, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTrunk, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTrunk, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.01},
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{HighwayType::HighwayTrunk, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.01},
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{HighwayType::HighwayTrunk, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.11},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.04},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.04},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.04},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.04},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayService, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.06},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.02},
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{HighwayType::HighwayTrunkLink, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.1},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayLivingStreet, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayPrimary, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayPrimaryLink, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayResidential, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayUnclassified, HighwayType::HighwaySecondary, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayUnclassified, HighwayType::HighwaySecondaryLink, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayService, VehicleType::Bicycle, 0.08},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayTertiary, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayTertiaryLink, VehicleType::Bicycle, 0.07},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayTrunk, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayTrunkLink, VehicleType::Bicycle, 0.09},
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{HighwayType::HighwayUnclassified, HighwayType::HighwayUnclassified, VehicleType::Bicycle, 0.08},
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}};
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array<TurnPenaltyMatrix, N> result{};
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@@ -507,10 +651,7 @@ public:
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double GetUTurnPenalty(Purpose /* purpose */) const override { return 20.0 /* seconds */; }
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double GetTurnPenalty(Purpose purpose, double angle, RoadGeometry const & from_road, RoadGeometry const & to_road,
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bool is_left_hand_traffic = false) const override
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{
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return 0;
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}
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bool is_left_hand_traffic = false) const override;
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double GetFerryLandingPenalty(Purpose purpose) const override
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{
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@@ -557,6 +698,35 @@ public:
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}
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};
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double BicycleEstimator::GetTurnPenalty(Purpose purpose, double angle, RoadGeometry const & from_road,
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RoadGeometry const & to_road, bool is_left_hand_traffic) const
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{
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auto penalty = m_defaultPenalty;
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if (from_road.GetHighwayType().has_value() && to_road.GetHighwayType().has_value())
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{
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int const from_road_idx = static_cast<int>(from_road.GetHighwayType().value());
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int const to_road_idx = static_cast<int>(to_road.GetHighwayType().value());
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auto const pen = m_turnPenaltyMap.find(from_road_idx * 65535 + to_road_idx);
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if (pen != m_turnPenaltyMap.end())
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penalty = pen->second;
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}
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// Determine if turn crosses traffic based on driving side
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// For bicycles, crossing traffic is less dangerous than for cars but still a factor
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bool turn_crosses_traffic;
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if (is_left_hand_traffic)
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turn_crosses_traffic = angle < 0;
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else
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turn_crosses_traffic = angle > 0;
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// Penalty multiplier for bicycles crossing traffic
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auto const extra_penalty = turn_crosses_traffic ? 2.0 : 1.0;
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auto const result = fabs(angle) * penalty * extra_penalty;
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return result;
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}
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// CarEstimator ------------------------------------------------------------------------------------
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class CarEstimator final : public EdgeEstimator
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{
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