The wilderness segment now ALWAYS uses foot mode for MCP pathfinding.
The user's selected mode only affects:
1. Entry point selection (MODE_TO_VALID_HIGHWAYS filtering)
2. Valhalla costing for the network segment
This ensures vehicles can navigate through wilderness (on foot) to
reach roads, rather than failing when no vehicle-accessible path exists.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
MVUM Data Import:
- Downloaded USFS MVUM Roads (150,636 features) and Trails (28,741 features)
- Imported to navi.db as mvum_roads and mvum_trails tables
- Idaho coverage: ~8,994 roads and ~4,504 trails across 7 national forests
- Preserved all vehicle-class fields (ATV, MOTORCYCLE, HIGHCLEARANCEVEHICLE, etc.)
- Preserved seasonal date ranges (*_DATESOPEN fields)
New mvum.py module:
- MVUMReader class for querying MVUM data by bbox and nearest point
- parse_date_range() for seasonal date string parsing (MM/DD-MM/DD format)
- check_access() for determining open/closed status with date checking
- symbol_to_access() fallback when per-vehicle fields are null
- get_mvum_access_grid() for rasterizing MVUM to pathfinder grid
Cost function integration:
- Added mvum parameter to compute_cost_grid()
- MVUM closures respond to boundary_mode:
* strict = impassable (np.inf)
* pragmatic = 5x friction penalty
* emergency = ignored entirely
- Foot mode skips MVUM (motor-vehicle specific)
Router integration:
- Loads MVUM access grid for motorized modes (mtb, atv, vehicle)
- Tracks mvum_closed_crossings in path summary
Places Panel API:
- GET /api/mvum?lat=XX&lon=XX&radius=50
- Returns MVUM feature with access status for all vehicle classes
- Includes seasonal date ranges, maintenance level, forest/district info
- GeoJSON geometry for map display
Validation:
- MVUM places endpoint tested with Sawtooth NF road
- All four modes validated with strict/pragmatic/emergency boundary modes
- Foot mode correctly ignores MVUM restrictions
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- New friction.py: reads WorldCover friction VRT, resamples to match
elevation grid, provides point sampling for validation
- Modified cost.py: accepts optional friction array, multiplies Tobler
time cost by friction multiplier, inf for water/nodata (255/0)
- Modified prototype.py: loads friction layer, passes to cost function,
validates path avoids water cells (friction=255)
Validated on Idaho test bbox:
- Path avoids Murtaugh Lake (no water cells on path)
- Friction along path: min=10, max=20, mean=10.2
- Effort increased 3.4% vs Phase O1 due to friction multipliers
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
