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<h2>DESCRIPTION</h2>
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<h2>DESCRIPTION</h2>
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-<em>r.walk</em> outputs 1) a raster map layer showing the lowest
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+<em>r.walk</em> outputs 1) a raster map showing the lowest
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cumulative cost of moving between each cell and the user-specified
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cumulative cost of moving between each cell and the user-specified
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-starting points and 2) a second raster map layer showing the movement
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+starting points and 2) a second raster map showing the movement
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direction to the next cell on the path back to the start point (see
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direction to the next cell on the path back to the start point (see
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<a href="#move">Movement Direction</a>). It uses an input elevation
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<a href="#move">Movement Direction</a>). It uses an input elevation
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-raster map layer whose cell category values represent elevation,
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-combined with a second input raster map layer whose cell values
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+raster map whose cell category values represent elevation,
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+combined with a second input raster map whose cell values
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represent friction costs.
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represent friction costs.
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-This function is similar to <em>r.cost</em>, but in addiction to a
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-friction map, it considers an anisotropic travel time due to the
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-different walking speed associated with downhill and uphill movements.
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+<p>
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+This function is similar to <em><a href="r.cost.html">r.cost</a></em>,
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+but in addiction to a friction map, it considers an anisotropic travel
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+time due to the different walking speed associated with downhill and
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+uphill movements.
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+
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+<h2>NOTES</h2>
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+
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<p>
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<p>
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The formula from Aitken 1977/Langmuir 1984 (based on Naismith's rule
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The formula from Aitken 1977/Langmuir 1984 (based on Naismith's rule
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for walking times) has been used to estimate the cost parameters of
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for walking times) has been used to estimate the cost parameters of
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specific slope intervals:
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specific slope intervals:
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-<p>T= [(a)*(Delta S)] + [(b)*(Delta H uphill)] + [(c)*(Delta H moderate downhill)] + [(d)*(Delta H steep downhill)]
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-<p>where:<br>
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-T is time of movement in seconds,<br>
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-Delta S is the distance covered in meters,<br>
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-Delta H is the altitude difference in meter.
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-<p>
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+<div class="code"><pre>
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+T= [(a)*(Delta S)] + [(b)*(Delta H uphill)] + [(c)*(Delta H moderate downhill)] + [(d)*(Delta H steep downhill)]
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+</pre></div>
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-The a, b, c, d parameters take in account movement speed in the different
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-conditions and are linked to:
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+where:
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+<ul>
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+ <li><tt>T</tt> is time of movement in seconds,</li>
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+ <li><tt>Delta S</tt> is the distance covered in meters,</li>
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+ <li><tt>Delta H</tt> is the altitude difference in meter.</li>
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+</ul>
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+
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+<p>
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+The a, b, c, d <b>walk_coeff</b> parameters take in account
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+movement speed in the different conditions and are linked to:
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<ul>
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<ul>
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<li>a: underfoot condition (a=1/walking_speed)</li>
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<li>a: underfoot condition (a=1/walking_speed)</li>
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@@ -36,16 +46,18 @@ conditions and are linked to:
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It has been proved that moving downhill is favourable up to a specific
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It has been proved that moving downhill is favourable up to a specific
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slope value threshold, after that it becomes unfavourable. The default
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slope value threshold, after that it becomes unfavourable. The default
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-slope value threshold (slope factor) is -0.2125, corresponding to
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-tan(-12), calibrated on human behaviour (>5 and <12
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-degrees: moderate downhill; >12 degrees: steep downhill). The
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-default values for a, b, c, d are those proposed by Langmuir (0.72, 6.0,
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-1.9998, -1.9998), based on man walking effort in standard
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-conditions.<p>
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-The lambda parameter of the linear equation combining movement and
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-friction costs:<br>
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-
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-total cost = movement time cost + (lambda) * friction costs<br>
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+slope value threshold (<b>slope_factor</b>) is -0.2125, corresponding
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+to tan(-12), calibrated on human behaviour (>5 and <12 degrees:
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+moderate downhill; >12 degrees: steep downhill). The default values
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+for a, b, c, d <b>walk_coeff</b> parameters are those proposed by
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+Langmuir (0.72, 6.0, 1.9998, -1.9998), based on man walking effort in
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+standard conditions.
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+
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+<p>The <b>lambda</b> parameter of the linear equation
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+combining movement and friction costs:<br>
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+<div class="code"><pre>
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+total cost = movement time cost + (lambda) * friction costs
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+</pre></div>
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must be set in the option section of <em>r.walk</em>.
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must be set in the option section of <em>r.walk</em>.
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<p>
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<p>
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For a more accurate result, the "knight's move" option can be used
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For a more accurate result, the "knight's move" option can be used
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@@ -70,7 +82,7 @@ algorithm, that find an optimum solution (for more details see
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<h2>Movement Direction</h2>
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<h2>Movement Direction</h2>
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<p>The movement direction surface is created to record the sequence of
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<p>The movement direction surface is created to record the sequence of
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movements that created the cost accumulation surface. Without it
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movements that created the cost accumulation surface. Without it
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-<em>r.drain</em> would not correctly create a path from an end point
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+<em><a href="r.drain.html">r.drain</a></em> would not correctly create a path from an end point
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back to the start point. The direction of each cell points towards
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back to the start point. The direction of each cell points towards
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the next cell. The directions are recorded as degrees CCW from East:
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the next cell. The directions are recorded as degrees CCW from East:
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<div class="code"><pre>
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<div class="code"><pre>
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@@ -84,19 +96,12 @@ the next cell. The directions are recorded as degrees CCW from East:
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<p>
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<p>
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Once <em>r.walk</em> computes the cumulative cost map as a linear
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Once <em>r.walk</em> computes the cumulative cost map as a linear
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combination of friction cost (from friction map) and the altitude and
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combination of friction cost (from friction map) and the altitude and
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-distance covered (from the digital elevation model), <em>r.drain</em>
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-can be used to find the minimum cost path. Make sure to use the <b>-d</b> flag
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-and the movement direction raster map when running r.drain to ensure
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-the path is computed according to the proper movement directions.
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-
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-
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-<h2>SEE ALSO</h2>
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-
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-<em><a href="r.cost.html">r.cost</a></em>,
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-<em><a href="r.drain.html">r.drain</a></em>,
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-<em><a href="r.in.ascii.html">r.in.ascii</a></em>,
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-<em><a href="r.mapcalc.html">r.mapcalc</a></em>,
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-<em><a href="r.out.ascii.html">r.out.ascii</a></em>
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+distance covered (from the digital elevation
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+model), <em><a href="r.drain.html">r.drain</a></em> can be used to
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+find the minimum cost path. Make sure to use the <b>-d</b> flag and
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+the movement direction raster map when
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+running <em><a href="r.drain.html">r.drain</a></em> to ensure the path
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+is computed according to the proper movement directions.
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<h2>REFERENCES</h2>
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<h2>REFERENCES</h2>
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@@ -112,29 +117,34 @@ the path is computed according to the proper movement directions.
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Sports Council/MLTB. Cordee, Leicester.
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Sports Council/MLTB. Cordee, Leicester.
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</ul>
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</ul>
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-<h2>AUTHORS</h2>
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+<h2>SEE ALSO</h2>
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+
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+<em>
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+<a href="r.cost.html">r.cost</a>,
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+<a href="r.drain.html">r.drain</a>,
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+<a href="r.in.ascii.html">r.in.ascii</a>,
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+<a href="r.mapcalc.html">r.mapcalc</a>,
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+<a href="r.out.ascii.html">r.out.ascii</a>
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+</em>
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-<b>Based on r.cost written by :</b>
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-<p>Antony Awaida,<br>
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-Intelligent Engineering<br>
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-Systems Laboratory,<br>
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-M.I.T.<br>
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-<br>
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-James Westervelt,<br>
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-U.S.Army Construction Engineering Research Laboratory
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-<p>Updated for Grass 5<br>
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-Pierre de Mouveaux (pmx@audiovu.com)
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+<h2>AUTHORS</h2>
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-<p><b>Initial version of r.walk:</b>
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-<p>Steno Fontanari, 2002
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+<b>Based on r.cost written by :</b><br>
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+Antony Awaida, Intelligent Engineering, Systems Laboratory, M.I.T.<br>
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+James Westervelt, U.S.Army Construction Engineering Research Laboratory<br>
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+Updated for Grass 5 by Pierre de Mouveaux (pmx@audiovu.com)
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-<p><b>Current version of r.walk:</b>
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-<p>Franceschetti Simone, Sorrentino Diego, Mussi Fabiano and Pasolli Mattia<br>
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+<p><b>Initial version of r.walk:</b><br>
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+Steno Fontanari, 2002
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+
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+<p><b>Current version of r.walk:</b><br>
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+Franceschetti Simone, Sorrentino Diego, Mussi Fabiano and Pasolli Mattia<br>
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Correction by: Fontanari Steno, Napolitano Maurizio and Flor Roberto<br>
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Correction by: Fontanari Steno, Napolitano Maurizio and Flor Roberto<br>
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In collaboration with: Franchi Matteo, Vaglia Beatrice, Bartucca Luisa, Fava Valentina and Tolotti Mathias, 2004
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In collaboration with: Franchi Matteo, Vaglia Beatrice, Bartucca Luisa, Fava Valentina and Tolotti Mathias, 2004
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-<p><b>Updated for Grass 6.1</b>
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-<p>Roberto Flor and Markus Neteler
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+<p><b>Updated for Grass 6.1:</b><br>
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+Roberto Flor and Markus Neteler
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-<p><i>Last changed: $Date$</i>
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+<p>
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+<i>Last changed: $Date$</i>
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