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map_matcher_euclidean_test.go
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package horizon
import (
"fmt"
"math"
"testing"
)
func TestMapMatcherSRID_0(t *testing.T) {
matcher := NewMapMatcherDefault()
gpsMeasurements := GPSMeasurements{
NewGPSMeasurementFromID(1, 10, 10, 0),
NewGPSMeasurementFromID(2, 30, 20, 0),
NewGPSMeasurementFromID(3, 30, 40, 0),
NewGPSMeasurementFromID(4, 10, 70, 0),
}
rp11 := NewRoadPositionFromLonLat(0, 0, 0, &Edge{Source: 0, Target: 1}, 20, 10, 0)
rp12 := NewRoadPositionFromLonLat(1, 3, 3, &Edge{Source: 0, Target: 1}, 60, 10, 0)
rp21 := NewRoadPositionFromLonLat(2, 0, 0, &Edge{Source: 0, Target: 1}, 20, 20, 0)
rp22 := NewRoadPositionFromLonLat(3, 3, 3, &Edge{Source: 0, Target: 1}, 60, 20, 0)
rp31 := NewRoadPositionFromLonLat(4, 1, 1, &Edge{Source: 0, Target: 1}, 20, 40, 0)
rp32 := NewRoadPositionFromLonLat(5, 1, 1, &Edge{Source: 0, Target: 1}, 30, 50, 0)
rp33 := NewRoadPositionFromLonLat(6, 2, 2, &Edge{Source: 0, Target: 1}, 60, 40, 0)
rp41 := NewRoadPositionFromLonLat(7, 4, 4, &Edge{Source: 0, Target: 1}, 20, 70, 0)
rp42 := NewRoadPositionFromLonLat(8, 5, 5, &Edge{Source: 0, Target: 1}, 60, 70, 0)
states := RoadPositions{rp11, rp12, rp21, rp22, rp31, rp32, rp33, rp41, rp42}
obsState := make([]*CandidateLayer, len(gpsMeasurements))
obsState[0] = NewCandidateLayer(gpsMeasurements[0], RoadPositions{rp11, rp12})
obsState[1] = NewCandidateLayer(gpsMeasurements[1], RoadPositions{rp21, rp22})
obsState[2] = NewCandidateLayer(gpsMeasurements[2], RoadPositions{rp31, rp32, rp33})
obsState[3] = NewCandidateLayer(gpsMeasurements[3], RoadPositions{rp41, rp42})
routeLengths := make(lengths)
routeLengths.AddRouteLength(rp11, rp21, 10)
routeLengths.AddRouteLength(rp11, rp22, 110)
routeLengths.AddRouteLength(rp12, rp21, 110)
routeLengths.AddRouteLength(rp12, rp22, 10)
routeLengths.AddRouteLength(rp21, rp31, 20)
routeLengths.AddRouteLength(rp21, rp32, 40)
routeLengths.AddRouteLength(rp21, rp33, 80)
routeLengths.AddRouteLength(rp22, rp31, 80)
routeLengths.AddRouteLength(rp22, rp32, 60)
routeLengths.AddRouteLength(rp22, rp33, 20)
routeLengths.AddRouteLength(rp31, rp41, 30)
routeLengths.AddRouteLength(rp31, rp42, 70)
routeLengths.AddRouteLength(rp32, rp41, 30)
routeLengths.AddRouteLength(rp32, rp42, 50)
routeLengths.AddRouteLength(rp33, rp41, 70)
routeLengths.AddRouteLength(rp33, rp42, 30)
v, err := matcher.PrepareViterbi(obsState, routeLengths, gpsMeasurements)
if err != nil {
t.Error(err)
}
vpath := v.EvalPathLogProbabilities()
correctProb := -1932.234419
eps := 10e-6
if math.Abs(vpath.Probability-correctProb) > eps {
t.Errorf(
"probability has to be %f, but got %f", correctProb, vpath.Probability,
)
}
if len(vpath.Path) != 4 {
t.Error(
"length of found path has to be 4, but got", len(vpath.Path),
)
}
if vpath.Path[0] != states[0] {
t.Error(
"First state has to be r11, but got", vpath.Path[0],
)
}
if vpath.Path[1] != states[2] {
t.Error(
"Second state has to be r11, but got", vpath.Path[1],
)
}
if vpath.Path[2] != states[4] {
t.Error(
"Third state has to be r31, but got", vpath.Path[2],
)
}
if vpath.Path[3] != states[7] {
t.Error(
"Fourth state has to be r41, but got", vpath.Path[3],
)
}
}
func BenchmarkMapMatcherSRID_0(b *testing.B) {
b.Log("Please wait until initial data is loaded (SRID 0, small graph)")
matcher := NewMapMatcherDefault()
gpsMeasurements := GPSMeasurements{
NewGPSMeasurementFromID(1, 10, 10, 0),
NewGPSMeasurementFromID(2, 30, 20, 0),
NewGPSMeasurementFromID(3, 30, 40, 0),
NewGPSMeasurementFromID(4, 10, 70, 0),
}
rp11 := NewRoadPositionFromLonLat(0, 0, 0, &Edge{Source: 0, Target: 1}, 20, 10, 0)
rp12 := NewRoadPositionFromLonLat(1, 3, 3, &Edge{Source: 0, Target: 1}, 60, 10, 0)
rp21 := NewRoadPositionFromLonLat(2, 0, 0, &Edge{Source: 0, Target: 1}, 20, 20, 0)
rp22 := NewRoadPositionFromLonLat(3, 3, 3, &Edge{Source: 0, Target: 1}, 60, 20, 0)
rp31 := NewRoadPositionFromLonLat(4, 1, 1, &Edge{Source: 0, Target: 1}, 20, 40, 0)
rp32 := NewRoadPositionFromLonLat(5, 1, 1, &Edge{Source: 0, Target: 1}, 30, 50, 0)
rp33 := NewRoadPositionFromLonLat(6, 2, 2, &Edge{Source: 0, Target: 1}, 60, 40, 0)
rp41 := NewRoadPositionFromLonLat(7, 4, 4, &Edge{Source: 0, Target: 1}, 20, 70, 0)
rp42 := NewRoadPositionFromLonLat(8, 5, 5, &Edge{Source: 0, Target: 1}, 60, 70, 0)
obsState := make([]*CandidateLayer, len(gpsMeasurements))
obsState[0] = NewCandidateLayer(gpsMeasurements[0], RoadPositions{rp11, rp12})
obsState[1] = NewCandidateLayer(gpsMeasurements[1], RoadPositions{rp21, rp22})
obsState[2] = NewCandidateLayer(gpsMeasurements[2], RoadPositions{rp31, rp32, rp33})
obsState[3] = NewCandidateLayer(gpsMeasurements[3], RoadPositions{rp41, rp42})
routeLengths := make(lengths)
routeLengths.AddRouteLength(rp11, rp21, 10)
routeLengths.AddRouteLength(rp11, rp22, 110)
routeLengths.AddRouteLength(rp12, rp21, 110)
routeLengths.AddRouteLength(rp12, rp22, 10)
routeLengths.AddRouteLength(rp21, rp31, 20)
routeLengths.AddRouteLength(rp21, rp32, 40)
routeLengths.AddRouteLength(rp21, rp33, 80)
routeLengths.AddRouteLength(rp22, rp31, 80)
routeLengths.AddRouteLength(rp22, rp32, 60)
routeLengths.AddRouteLength(rp22, rp33, 20)
routeLengths.AddRouteLength(rp31, rp41, 30)
routeLengths.AddRouteLength(rp31, rp42, 70)
routeLengths.AddRouteLength(rp32, rp41, 30)
routeLengths.AddRouteLength(rp32, rp42, 50)
routeLengths.AddRouteLength(rp33, rp41, 70)
routeLengths.AddRouteLength(rp33, rp42, 30)
b.Log("BenchmarkMapMatcherSRID_0 is starting...")
b.ResetTimer()
for k := 0.; k <= 12; k++ {
n := int(math.Pow(2, k))
b.Run(fmt.Sprintf("%s/%d/pts-%d", "Map match for Euclidean points", n, len(gpsMeasurements)), func(b *testing.B) {
for i := 0; i < b.N; i++ {
v, err := matcher.PrepareViterbi(obsState, routeLengths, gpsMeasurements)
if err != nil {
b.Error(err)
}
vpath := v.EvalPathLogProbabilities()
_ = vpath
}
})
}
}