FHWS/Indoor
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started removing KLib related code:

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- assertions
- distributions
new helper methods
worked on stairs
worked on grid-walkers
worked on navigation
This commit is contained in:
FrankE
2016-01-27 20:03:58 +01:00
parent e6329e1db4
commit 0e05f4bef8
26 changed files with 408 additions and 109 deletions
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16
grid/factory/GridImportance.h
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@@ -11,7 +11,7 @@
#include "../../nav/dijkstra/Dijkstra.h"
#include "../../nav/dijkstra/DijkstraPath.h"
#include <KLib/math/distribution/Normal.h>
#include "../../math/Distributions.h"
@@ -69,7 +69,7 @@ public:
n1.imp = 1.0f;
n1.imp += getWallImportance(n1, Units::cmToM(std::sqrt(squaredDist[0])) );
n1.imp += getWallImportance( Units::cmToM(std::sqrt(squaredDist[0])) );
//addDoor(n1, neighbors);
// is the current node a door?
@@ -86,7 +86,7 @@ public:
// process each node again
for (T& n1 : g) {
static K::NormalDistribution favorDoors(0.0, 1.0);
static Distribution::Normal<float> favorDoors(0.0f, 1.0f);
// get the distance to the nearest door
const float dist_m = Units::cmToM(knnDoors.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
@@ -141,7 +141,7 @@ public:
//T& node = g[idx];
const float dist_cm = knn.getNearestDistance( {n.x_cm, n.y_cm, n.z_cm} );
const float dist_m = Units::cmToM(dist_cm);
n.impPath = 1.0 + K::NormalDistribution::getProbability(0, 1.0, dist_m) * 0.8;
n.impPath = 1.0 + Distribution::Normal<float>::getProbability(0, 1.0, dist_m) * 0.8;
}
@@ -191,16 +191,16 @@ public:
}
/** get the importance of the given node depending on its nearest wall */
template <typename T> float getWallImportance(T& nSrc, float dist_m) {
float getWallImportance(float dist_m) {
// avoid sticking too close to walls (unlikely)
static K::NormalDistribution avoidWalls(0.0, 0.4);
static Distribution::Normal<float> avoidWalls(0.0, 0.4);
// favour walking near walls (likely)
static K::NormalDistribution sticToWalls(0.9, 0.5);
static Distribution::Normal<float> sticToWalls(0.9, 0.5);
// favour walking far away (likely)
static K::NormalDistribution farAway(2.2, 0.5);
static Distribution::Normal<float> farAway(2.2, 0.5);
if (dist_m > 2.0) {dist_m = 2.0;}
// overall importance