159 lines
4.5 KiB
C++
159 lines
4.5 KiB
C++
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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 "Vis.h"
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#include "Helper.h"
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#include "MyGridNode.h"
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#include "Helper.h"
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#include "DijkstraMapper.h"
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#include "eval/Eval.h"
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#include "eval/Eval1.h"
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#include "eval/EvalBase.h"
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#include "eval/PaperVisImportance.h"
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#include "eval/PaperVisDijkstra.h"
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#include "eval/PaperVisGrid.h"
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float BarometerEvaluation::barometerSigma = NAN;
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Settings settings;
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void testModelWalk() {
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Grid<MyGridNode> grid(MiscSettings::gridSize_cm);
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Helper::FHWSFloors floors = Helper::getFloors(grid);
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Helper::buildTheGrid(grid, floors);
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MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
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//MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
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Vis vis;
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vis.addFloor(floors.f0, floors.h0);
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vis.addFloor(floors.f1, floors.h1);
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vis.addFloor(floors.f2, floors.h2);
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vis.addFloor(floors.f3, floors.h3);
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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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// vis.gp << "set xrange [1000:4000]\n";
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// vis.gp << "set yrange [1000:4000]\n";
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// vis.gp << "set zrange [0:600]\n";
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// switch between different grid-walkers
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GridWalkRandomHeadingUpdate<MyGridNode> walk;
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//GridWalkRandomHeadingUpdateAdv<MyGridNode> walk;
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//GridWalkPushForward<MyGridNode> walk;
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//GridWalkLightAtTheEndOfTheTunnel<MyGridNode> walk(grid, DijkstraMapper(grid), end);
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std::vector<GridWalkState<MyGridNode>> states;
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for (int i = 0; i < 1000; ++i) { states.push_back(GridWalkState<MyGridNode>(&start, Heading::rnd())); }
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// track the number-of-visits for each node to draw something like a particle-heat-map?
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// show the importance factors
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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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Distribution::Normal<float> wHead(0.3, 0.3);
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while(true) {
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for (GridWalkState<MyGridNode>& state : states) {
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state = walk.getDestination(grid, state, std::abs(wDist.draw()), wHead.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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}
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int main(void) {
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// testModelWalk();
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Eval1 eval;
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// //eval.path2_forward_simple();
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// //eval.path2_forward_path();
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// //eval.path3_forward_simple();
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// //eval.path3_forward_path();
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// //eval.path4_nexus_simple();
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// //eval.path4_nexus_imp();
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// //eval.path4_nexus_path();
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// //eval.path4_nexus_path_b();
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// {Eval1 eval; eval.bergwerk_path1_nexus_simple(); eval.run();}
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// //{Eval1 eval; eval.bergwerk_path1_nexus_imp(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path1_nexus_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path1_nexus_shortest(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path2_nexus_simple(); eval.run();}
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// //{Eval1 eval; eval.bergwerk_path2_nexus_imp(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path2_nexus_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path2_nexus_shortest(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path3_nexus_simple(); eval.run();}
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// //{Eval1 eval; eval.bergwerk_path3_nexus_imp(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path3_nexus_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path3_nexus_shortest(); eval.run();}
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{Eval1 eval; eval.bergwerk_path4_nexus_simple(); eval.run();}
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//{Eval1 eval; eval.bergwerk_path4_nexus_imp(); eval.run();}
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{Eval1 eval; eval.bergwerk_path4_nexus_multi(); eval.run();}
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{Eval1 eval; eval.bergwerk_path4_nexus_shortest(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path1_galaxy_simple(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path1_galaxy_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path1_galaxy_shortest(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path2_galaxy_simple(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path2_galaxy_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path2_galaxy_shortest(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path3_galaxy_simple(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path3_galaxy_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path3_galaxy_shortest(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path4_galaxy_simple(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path4_galaxy_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path4_galaxy_shortest(); eval.run();}
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//eval.run();
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//sleep(100);
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// PaperVisGrid::show();
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// PaperVisGrid::showStairs();
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// PaperVisImportance::createImportance();
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// PaperVisImportance::createPath();
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// PaperVisImportance::showDijkstraDistance();
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return 0;
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}
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