Repo created

2025-11-22 13:58:55 +01:00 · 2025-11-22 13:58:55 +01:00 · 68073add76
commit 68073add76
parent 4af19165ec
12458 changed files with 12350765 additions and 2 deletions
--- a/libs/routing/routing_tests/world_graph_builder.cpp
+++ b/libs/routing/routing_tests/world_graph_builder.cpp
@ -0,0 +1,108 @@
+#include "routing/routing_tests/world_graph_builder.hpp"
+
+#include "generator/generator_tests_support/routing_helpers.hpp"
+
+#include "routing/routing_tests/index_graph_tools.hpp"
+
+#include "routing/edge_estimator.hpp"
+#include "routing/geometry.hpp"
+#include "routing/joint.hpp"
+#include "routing/single_vehicle_world_graph.hpp"
+
+#include "traffic/traffic_cache.hpp"
+
+#include <utility>
+#include <vector>
+
+namespace routing_test
+{
+using namespace routing;
+
+//                             Finish
+//                               *
+//                               ^
+//                               |
+//                               F7
+//                               |
+//                               *
+//                               ^
+//                               |
+//                               F6
+//                               |
+// Start * -- F0 --> * -- F1 --> * <-- F2 --> * <-- F3 --> *
+//                              | ^
+//                              | |
+//                             F4 F5
+//                              | |
+//                              ⌄ |
+//                               *
+std::unique_ptr<SingleVehicleWorldGraph> BuildCrossGraph()
+{
+  std::unique_ptr<TestGeometryLoader> loader = std::make_unique<TestGeometryLoader>();
+  loader->AddRoad(0 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{-1.0, 0.0}, {0.0, 0.0}}));
+  loader->AddRoad(1 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{0.0, 0.0}, {1.0, 0.0}}));
+  loader->AddRoad(2 /* featureId */, false /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.0, 0.0}, {1.9999, 0.0}}));
+  loader->AddRoad(3 /* featureId */, false /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.9999, 0.0}, {3.0, 0.0}}));
+  loader->AddRoad(4 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.0, 0.0}, {1.0, -1.0}}));
+  loader->AddRoad(5 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.0, -1.0}, {1.0, 0.0}}));
+  loader->AddRoad(6 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.0, 0.0}, {1.0, 1.0}}));
+  loader->AddRoad(7 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.0, 1.0}, {1.0, 2.0}}));
+
+  std::vector<Joint> const joints = {MakeJoint({{0, 1}, {1, 0}}), MakeJoint({{1, 1}, {2, 0}, {4, 0}, {5, 1}, {6, 0}}),
+                                     MakeJoint({{2, 1}, {3, 0}}), MakeJoint({{4, 1}, {5, 0}}),
+                                     MakeJoint({{6, 1}, {7, 0}})};
+
+  traffic::TrafficCache const trafficCache;
+  std::shared_ptr<EdgeEstimator> estimator = CreateEstimatorForCar(trafficCache);
+
+  return BuildWorldGraph(std::move(loader), estimator, joints);
+}
+
+//
+// 2    * -- F2 --> * -- F2 --> * -- F2 --> * -- F5 --> *
+//      ↑                                 ↗
+//      F2                            F3
+//      ↑                          ↗
+// 1    * <-- F0 --> * <-- F1 --> *
+//                                 ↘
+//                                    F4
+//                                        ↘
+// 0                                        *
+//
+//     -1           0            1          2           3
+//
+std::unique_ptr<SingleVehicleWorldGraph> BuildTestGraph()
+{
+  std::unique_ptr<TestGeometryLoader> loader = std::make_unique<TestGeometryLoader>();
+  loader->AddRoad(0 /* featureId */, false /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{0.0, 1.0}, {-1.0, 1.0}}));
+  loader->AddRoad(1 /* featureId */, false /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{0.0, 1.0}, {1.0, 1.0}}));
+  loader->AddRoad(2 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{-1.0, 1.0}, {-1.0, 2.0}, {0.0, 2.0}, {1.0, 2.0}, {2.0, 2.0}}));
+  loader->AddRoad(3 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.0, 1.0}, {2.0, 2.0}}));
+  loader->AddRoad(4 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{1.0, 0.0}, {2.0, 0.0}}));
+  loader->AddRoad(5 /* featureId */, true /* oneWay */, 1.0 /* speed */,
+                  RoadGeometry::Points({{2.0, 2.0}, {3.0, 2.0}}));
+
+  std::vector<Joint> const joints = {MakeJoint({{1, 0}, {0, 0}}),           // (0, 1)
+                                     MakeJoint({{0, 1}, {2, 0}}),           // (-1, 1)
+                                     MakeJoint({{3, 1}, {2, 4}, {5, 0}}),   // (2, 2)
+                                     MakeJoint({{1, 1}, {3, 0}, {4, 0}})};  // (1, 1)
+
+  traffic::TrafficCache const trafficCache;
+  std::shared_ptr<EdgeEstimator> estimator = CreateEstimatorForCar(trafficCache);
+
+  return BuildWorldGraph(std::move(loader), estimator, joints);
+}
+}  // namespace routing_test