changed the floorplan (adjust stairs)
added the new stairs to the code changed the visualisation
This commit is contained in:
@@ -64,8 +64,7 @@ ADD_DEFINITIONS(
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-fstack-protector-all
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-g
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-O0
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-O2
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-DWITH_TESTS
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-DWITH_ASSERTIONS
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39
code/Vis.h
39
code/Vis.h
@@ -5,6 +5,7 @@
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
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#include <Indoor/geo/Length.h>
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#include <Indoor/floorplan/Floor.h>
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@@ -16,8 +17,9 @@ public:
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K::Gnuplot gp;
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K::GnuplotSplot splot;
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K::GnuplotSplotElementLines floors;
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K::GnuplotSplotElementPoints gridNodes;
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K::GnuplotSplotElementColorPoints gridNodes;
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K::GnuplotSplotElementLines gridEdges;
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K::GnuplotSplotElementPoints particles;
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public:
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@@ -26,11 +28,13 @@ public:
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gp << "set hidden3d front\n";
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gp << "set view equal xy\n";
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gp << "set ticslevel 0\n";
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gp << "set cbrange[0.8:2.0]\n";
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// attach all layers
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splot.add(&floors);
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splot.add(&gridNodes);
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splot.add(&gridEdges);
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splot.add(&particles);
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}
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@@ -50,13 +54,36 @@ public:
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/** add the grid to the plot */
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template <typename T> Vis& addGrid(Grid<T>& grid) {
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float max = 0;
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for (const T& n1 : grid) {
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if (n1.distToTarget > max) {max = n1.distToTarget;}
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}
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gp << "set cbrange[0.0:1.0]\n";
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//gp << "set cbrange[0.8:1.3]\n";
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for (const T& n1 : grid) {
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const K::GnuplotPoint3 p1(n1.x_cm, n1.y_cm, n1.z_cm);
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gridNodes.add(p1);
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for (const T& n2 : grid.neighbors(n1)) {
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const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
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gridEdges.addSegment(p1, p2);
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}
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//const float color = n1.imp;
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//const float color = n1.distToTarget/max;
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const float color = 0;
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gridNodes.add(p1, color);
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// for (const T& n2 : grid.neighbors(n1)) {
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// const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
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// gridEdges.addSegment(p1, p2);
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// }
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}
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return *this;
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}
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void removeGrid() {
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gridNodes.clear();;
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}
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template <typename T> Vis& showStates(std::vector<GridWalkState<T>>& states) {
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particles.clear();;
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for (const GridWalkState<T>& n : states) {
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particles.add(K::GnuplotPoint3(n.node->x_cm, n.node->y_cm, n.node->z_cm));
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}
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return *this;
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}
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115
code/main.cpp
115
code/main.cpp
@@ -1,14 +1,21 @@
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#include <Indoor/grid/factory/GridFactory.h>
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#include <Indoor/floorplan/FloorplanFactorySVG.h>
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#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
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#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
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#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
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#include <Indoor/grid/walk/GridWalkPushForward.h>
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#include <Indoor/grid/factory/GridImportance.h>
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#include "Vis.h"
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namespace Settings {
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const std::string floorplan = "/mnt/data/workspaces/Fusion2016/code/plan.svg";
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const int gridSize_cm = 200;
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const int gridSize_cm = 20;
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}
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struct MyNode : public GridNode, public GridPoint {
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float distToTarget = 1.0;
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float imp = 1.0;
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public:
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MyNode(const float x_cm, const float y_cm, const float z_cm) : GridPoint(x_cm, y_cm, z_cm) {;}
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};
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@@ -18,6 +25,20 @@ int align(const int val) {
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return val / Settings::gridSize_cm * Settings::gridSize_cm;
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}
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// dijkstra mapper
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class DijkstraMapper {
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Grid<MyNode>& grid;
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public:
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DijkstraMapper(Grid<MyNode>& grid) : grid(grid) {;}
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int getNumNeighbors(const MyNode& node) const {return node.getNumNeighbors();}
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const MyNode* getNeighbor(const MyNode& node, const int idx) const {return &grid.getNeighbor(node, idx);}
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float getWeightBetween(const MyNode& n1, const MyNode& n2) const {
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float d = ((Point3)n1 - (Point3)n2).length(2.0);
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//if (d > 20) {d*= 1.30;}
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return d / std::pow(n2.imp, 3);
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}
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};
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int main(void) {
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Grid<MyNode> grid(Settings::gridSize_cm);
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@@ -31,9 +52,9 @@ int main(void) {
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Floor f2 = fpFac.getFloor("floor_2");
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Floor f3 = fpFac.getFloor("floor_3");
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Stairs f01 = fpFac.getStairs("staircase_0_1");
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Stairs f12 = fpFac.getStairs("staircase_1_2");
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Stairs f23 = fpFac.getStairs("staircase_2_3");
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Stairs s01 = fpFac.getStairs("staircase_0_1");
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Stairs s12 = fpFac.getStairs("staircase_1_2");
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Stairs s23 = fpFac.getStairs("staircase_2_3");
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const LengthF h0 = LengthF::cm(align(0));
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const LengthF h1 = LengthF::cm(align(360));
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@@ -44,12 +65,90 @@ int main(void) {
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gridFac.addFloor(f1, h1.cm());
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gridFac.addFloor(f2, h2.cm());
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gridFac.addFloor(f3, h3.cm());
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//gridFac.removeIsolated();
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gridFac.addStairs(s01, h0.cm(), h1.cm());
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gridFac.addStairs(s12, h1.cm(), h2.cm());
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gridFac.addStairs(s23, h2.cm(), h3.cm());
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// maybe the two sides are wrong?
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PlatformStair psUpperLeft;
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psUpperLeft.platform = BBox2(Point2(1560, 4778), Point2(1730, 5128));
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psUpperLeft.s1 = Stair(Line2( 1278,4790+000, 1278,4790+140 ), Point2(+280,0));
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psUpperLeft.s2 = Stair(Line2( 1278,4790+160, 1278,4790+160+140 ), Point2(+280,0));
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gridFac.buildPlatformStair(psUpperLeft, h0.cm(), h1.cm());
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gridFac.buildPlatformStair(psUpperLeft, h1.cm(), h2.cm());
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gridFac.buildPlatformStair(psUpperLeft, h2.cm(), h3.cm());
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// vis.gp << "set xrange [1100:1800]\n";
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// vis.gp << "set yrange [4500:5200]\n";
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PlatformStair psUpperRight;
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psUpperRight.platform = BBox2(Point2(6290, 4778), Point2(6500, 5098));
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psUpperRight.s1 = Stair(Line2( 6758,4790+160, 6758,4790+160+140 ), Point2(-280,0));
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psUpperRight.s2 = Stair(Line2( 6758,4790+000, 6758,4790+140 ), Point2(-280,0));
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gridFac.buildPlatformStair(psUpperRight, h0.cm(), h1.cm());
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gridFac.buildPlatformStair(psUpperRight, h1.cm(), h2.cm());
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gridFac.buildPlatformStair(psUpperRight, h2.cm(), h3.cm());
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// vis.gp << "set xrange [6100:6900]\n";
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// vis.gp << "set yrange [4500:5200]\n";
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PlatformStair psLowerLeft;
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psLowerLeft.platform = BBox2(Point2(1510, 658), Point2(1820, 900));
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psLowerLeft.s1 = Stair(Line2( 1510+000,1148, 1510+140,1148 ), Point2(0,-280));
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psLowerLeft.s2 = Stair(Line2( 1510+170,1148, 1510+300,1148 ), Point2(0,-280));
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gridFac.buildPlatformStair(psLowerLeft, h0.cm(), h1.cm());
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gridFac.buildPlatformStair(psLowerLeft, h1.cm(), h2.cm());
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gridFac.buildPlatformStair(psLowerLeft, h2.cm(), h3.cm());
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// vis.gp << "set xrange [1300:2100]\n";
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// vis.gp << "set yrange [400:1400]\n";
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gridFac.removeIsolated( (MyNode&)grid.getNodeFor(GridPoint(300,300,h0.cm())) );
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GridImportance gridImp;
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gridImp.addImportance(grid, h0.cm());
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gridImp.addImportance(grid, h1.cm());
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gridImp.addImportance(grid, h2.cm());
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gridImp.addImportance(grid, h3.cm());
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MyNode& start = (MyNode&)grid.getNodeFor(GridPoint(500,300,h0.cm()));
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MyNode& end = (MyNode&)grid.getNodeFor(GridPoint(7000,5000,h3.cm()));
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Vis vis;
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vis.addFloor(f0, h0).addFloor(f1, h1).addFloor(f2, h2).addFloor(f3, h3);
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vis.addGrid(grid);
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vis.show();
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vis.addFloor(f0, h0);
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vis.addFloor(f1, h1);
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vis.addFloor(f2, h2);
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vis.addFloor(f3, h3);
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//GridWalkRandomHeadingUpdate<MyNode> walk;
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//GridWalkRandomHeadingUpdateAdv<MyNode> walk;
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//GridWalkPushForward<MyNode> walk;
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GridWalkLightAtTheEndOfTheTunnel<MyNode> walk(grid, DijkstraMapper(grid), end);
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std::vector<GridWalkState<MyNode>> states;
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for (int i = 0; i < 2000; ++i) { states.push_back(GridWalkState<MyNode>(&start, Heading::rnd())); }
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// vis.addGrid(grid);
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// vis.show();
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// sleep(100);
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// vis.removeGrid();
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Distribution::Normal<float> wDist(0.3, 0.3);
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//std::minstd_rand gen(1234);
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//std::normal_distribution<float> dist(0.6, 0.3);
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while(true) {
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for (GridWalkState<MyNode>& state : states) {
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state = walk.getDestination(grid, state, std::abs(wDist.draw()) );
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}
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usleep(1000*80);
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vis.showStates(states);
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vis.show();
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}
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sleep(1000);
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377
code/plan.svg
377
code/plan.svg
@@ -42,23 +42,23 @@
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guidetolerance="10"
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inkscape:pageopacity="0"
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inkscape:pageshadow="2"
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inkscape:window-width="1366"
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inkscape:window-height="672"
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inkscape:window-width="1600"
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inkscape:window-height="782"
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id="namedview3234"
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showgrid="true"
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inkscape:zoom="2.4027176"
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inkscape:window-y="0"
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inkscape:window-maximized="1"
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inkscape:current-layer="layer11"
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inkscape:current-layer="layer16"
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inkscape:object-nodes="true"
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units="px"
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showborder="true"
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inkscape:snap-to-guides="true"
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inkscape:snap-text-baseline="true"
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showguides="true"
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showguides="false"
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inkscape:guide-bbox="true"
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inkscape:snap-nodes="true"
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inkscape:snap-smooth-nodes="true">
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@@ -238,7 +238,7 @@
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inkscape:groupmode="layer"
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id="layer2"
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inkscape:label="roomnames_2"
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<text
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xml:space="preserve"
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@@ -1680,7 +1680,7 @@
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inkscape:groupmode="layer"
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id="layer16"
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inkscape:label="floor_0"
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Reference in New Issue
Block a user