public CandidateInfo(DirectedRoad from, double p_from, double p_transition, Emission emission, double p_final)
{
From = from;
P_From = p_from;
P_Transition = p_transition;
Emission = emission;
P_Final = p_final;
}
public bool TryUpdateState(Coord coord, DateTime timeStamp = default(DateTime), bool printUpdateAnalyticsToConsole = false)
{
var stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
UpdateInfo = new UpdateInfo();
UpdateInfo.PrevCoordinate = State.PrevCoord;
UpdateInfo.Coordinate = coord;
UpdateInfo.PrevProbabilities = State.Probabilities;
// Find nearby roads using search grid
List <DirectedRoad> nearbyRoads = GetNearbyRoads(coord, Parameters.NearbyRoadsThreshold);
if (nearbyRoads.Count == 0)
{
// If no nearby roads, update fails.
UpdateInfo.UpdateStatus = Enums.MapMatchUpdateStatus.NoNearbyRoads;
stopwatch.Stop();
UpdateInfo.UpdateTimeInMilliseconds = stopwatch.ElapsedMilliseconds;
if (printUpdateAnalyticsToConsole)
{
UpdateInfo.PrintUpdateSummary();
}
return(false);
}
// Project coordinate onto roads
List <ProjectToRoad> nearbyRoadProjections = nearbyRoads.Select(x => new ProjectToRoad(coord, x)).ToList();
// Initialize new transition memory
var transitionMemory = new Dictionary <DirectedRoad, DirectedRoad>();
// Initialize new probability vector
var newProbabilityVector = new ProbabilityVector <DirectedRoad>();
if (State.PrevCoord == null)
{
foreach (var projection in nearbyRoadProjections)
{
// Get emission
Emission emission = MarkovProbabilityHelpers.EmissionProbability(projection, Parameters.Sigma);
// Log info
var candidateInfo = new CandidateInfo();
candidateInfo.Emission = emission;
UpdateInfo.CandidateDetails[projection.Road] = candidateInfo;
UpdateInfo.Emissions[projection.Road] = emission;
// Update probability and transition memory
newProbabilityVector[projection.Road] = emission.Probability;
transitionMemory[projection.Road] = null;
}
}
else
{
foreach (var projection in nearbyRoadProjections)
{
//Calculate emission probability
Emission emission = MarkovProbabilityHelpers.EmissionProbability(projection, Parameters.Sigma);
UpdateInfo.Emissions[projection.Road] = emission;
//Calculate maximum transition from possible prev state
var maxCandidates = new Dictionary <Transition, double>();
UpdateInfo.AllTransitions[projection.Road] = new List <Transition>();
foreach (var prevProjection in State.PrevNearbyRoadsAndProjections)
{
Transition transition = MarkovProbabilityHelpers.TransitionProbability(Graph, prevProjection, projection, Parameters);
UpdateInfo.AllTransitions[projection.Road].Add(transition);
maxCandidates[transition] = transition.Probability * State.Probabilities[prevProjection.Road];
}
var maxPair = maxCandidates.Aggregate((x, y) => x.Value > y.Value ? x : y);
// Log info
UpdateInfo.Transitions[projection.Road] = maxPair.Value;
var candidateInfo = new CandidateInfo();
candidateInfo.Emission = emission;
candidateInfo.From = maxPair.Key.From;
candidateInfo.P_From = State.Probabilities[maxPair.Key.From];
candidateInfo.P_Transition = maxPair.Key.Probability;
candidateInfo.P_Final = maxPair.Value * emission.Probability;
UpdateInfo.CandidateDetails[projection.Road] = candidateInfo;
// Update probability and transition memory
newProbabilityVector[projection.Road] = maxPair.Value * emission.Probability;
transitionMemory[projection.Road] = maxPair.Key.From;
}
}
UpdateInfo.NonNormalizedProbabilityVector = newProbabilityVector;
UpdateInfo.Probabilities = newProbabilityVector.Normalize();
// CHECK IF UPDATE FAILED:
// Emission probabilities were practically zero (i.e. no nearby roads)
if (UpdateInfo.Emissions.Values.Select(x => x.Probability).Sum() < double.Epsilon)
{
UpdateInfo.UpdateStatus = Enums.MapMatchUpdateStatus.ZeroEmissions;
stopwatch.Stop();
UpdateInfo.UpdateTimeInMilliseconds = stopwatch.ElapsedMilliseconds;
if (printUpdateAnalyticsToConsole)
{
UpdateInfo.PrintUpdateSummary();
}
return(false);
}
// No transitions were possible
if (UpdateInfo.Transitions.Count > 0 && UpdateInfo.Transitions.Values.Sum() < double.Epsilon)
{
UpdateInfo.UpdateStatus = Enums.MapMatchUpdateStatus.NoPossibleTransitions;
stopwatch.Stop();
UpdateInfo.UpdateTimeInMilliseconds = stopwatch.ElapsedMilliseconds;
if (printUpdateAnalyticsToConsole)
{
UpdateInfo.PrintUpdateSummary();
}
return(false);
}
if (newProbabilityVector.GetSum() < double.Epsilon)
{
UpdateInfo.UpdateStatus = Enums.MapMatchUpdateStatus.CrossoverProblem;
stopwatch.Stop();
UpdateInfo.UpdateTimeInMilliseconds = stopwatch.ElapsedMilliseconds;
if (printUpdateAnalyticsToConsole)
{
UpdateInfo.PrintUpdateSummary();
}
return(false);
}
//UPDATE STATE:
newProbabilityVector = newProbabilityVector.Normalize();
// 1. Update probability vector
State.Probabilities = newProbabilityVector;
//2. Add to transition memory
State.TransitionMemory.Add(transitionMemory);
//3. Update prev coord and date
State.PrevCoord = coord;
State.PrevTime = timeStamp;
// 4.
State.PrevNearbyRoadsAndProjections = nearbyRoadProjections;
//LastUpdateAnalytics.ProbabilityVector = State.Probabilities;
UpdateInfo.UpdateStatus = Enums.MapMatchUpdateStatus.SuccessfullyUpdated;
stopwatch.Stop();
UpdateInfo.UpdateTimeInMilliseconds = stopwatch.Elapsed.TotalMilliseconds;
//Console.WriteLine(analytics.BuildSummaryString(5));
if (printUpdateAnalyticsToConsole)
{
UpdateInfo.PrintUpdateSummary(20);
}
return(true);
}