FHWS/Fusion2016
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changed the floorplan (adjust stairs)

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added the new stairs to the code
changed the visualisation
This commit is contained in:
FrankE
2016-01-27 21:39:21 +01:00
parent f3856d9473
commit 07d739ebb7
4 changed files with 337 additions and 197 deletions
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39
code/Vis.h
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@@ -5,6 +5,7 @@
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <Indoor/geo/Length.h>
#include <Indoor/floorplan/Floor.h>
@@ -16,8 +17,9 @@ public:
K::Gnuplot gp;
K::GnuplotSplot splot;
K::GnuplotSplotElementLines floors;
K::GnuplotSplotElementPoints gridNodes;
K::GnuplotSplotElementColorPoints gridNodes;
K::GnuplotSplotElementLines gridEdges;
K::GnuplotSplotElementPoints particles;
public:
@@ -26,11 +28,13 @@ public:
gp << "set hidden3d front\n";
gp << "set view equal xy\n";
gp << "set ticslevel 0\n";
gp << "set cbrange[0.8:2.0]\n";
// attach all layers
splot.add(&floors);
splot.add(&gridNodes);
splot.add(&gridEdges);
splot.add(&particles);
}
@@ -50,13 +54,36 @@ public:
/** add the grid to the plot */
template <typename T> Vis& addGrid(Grid<T>& grid) {
float max = 0;
for (const T& n1 : grid) {
if (n1.distToTarget > max) {max = n1.distToTarget;}
}
gp << "set cbrange[0.0:1.0]\n";
//gp << "set cbrange[0.8:1.3]\n";
for (const T& n1 : grid) {
const K::GnuplotPoint3 p1(n1.x_cm, n1.y_cm, n1.z_cm);
gridNodes.add(p1);
for (const T& n2 : grid.neighbors(n1)) {
const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
gridEdges.addSegment(p1, p2);
}
//const float color = n1.imp;
//const float color = n1.distToTarget/max;
const float color = 0;
gridNodes.add(p1, color);
// for (const T& n2 : grid.neighbors(n1)) {
// const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
// gridEdges.addSegment(p1, p2);
// }
}
return *this;
}
void removeGrid() {
gridNodes.clear();;
}
template <typename T> Vis& showStates(std::vector<GridWalkState<T>>& states) {
particles.clear();;
for (const GridWalkState<T>& n : states) {
particles.add(K::GnuplotPoint3(n.node->x_cm, n.node->y_cm, n.node->z_cm));
}
return *this;
}