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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2
grid/walk/GridWalkHelper.h
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@@ -40,7 +40,7 @@ public:
*/
template <typename T, typename Walker> static GridWalkState<T> retryOrInvert(Walker& w, const int numRetries, Grid<T>& grid, GridWalkState<T> start, float distance_m) {
_assertTrue(distance_m >= 0, "distance must not be negative!");
Assert::isTrue(distance_m >= 0, "distance must not be negative!");
GridWalkState<T> res;

4
grid/walk/GridWalkLightAtTheEndOfTheTunnel.h
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@@ -5,7 +5,7 @@
#include "../Grid.h"
#include "../../math/DrawList.h"
#include <KLib/math/distribution/Normal.h>
#include "../../math/Distributions.h"
#include "../../nav/dijkstra/Dijkstra.h"
@@ -84,7 +84,7 @@ private:
const float diff = cur.heading.getDiffHalfRAD(potentialHeading);
// probability for this direction change?
double prob = K::NormalDistribution::getProbability(0, HEADING_DIFF_SIGMA, diff);
double prob = Distribution::Normal<float>::getProbability(0, HEADING_DIFF_SIGMA, diff);
// perfer locations reaching the target
const double shortening = cur.node->distToTarget - neighbor.distToTarget;

5
grid/walk/GridWalkPushForward.h
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@@ -8,9 +8,6 @@
#include "../Grid.h"
#include "../../math/DrawList.h"
#include <KLib/math/distribution/Normal.h>
#include <KLib/math/distribution/Exponential.h>
#include "../../nav/dijkstra/Dijkstra.h"
#include "GridWalkState.h"
@@ -70,7 +67,7 @@ private:
const float diffRad = potentialHeading.getDiffHalfRAD(cur.heading);
// weight this change
const float prob1 = K::NormalDistribution::getProbability(0, HEADING_ALLOWED_SIGMA, diffRad);
const float prob1 = Distribution::Normal<float>::getProbability(0, HEADING_ALLOWED_SIGMA, diffRad);
// distance from average? and previous distance from average

2
grid/walk/GridWalkRandomHeadingUpdate.h
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@@ -4,8 +4,6 @@
#include "../../geo/Heading.h"
#include "../Grid.h"
#include <KLib/math/distribution/Normal.h>
#include "../../nav/dijkstra/Dijkstra.h"
#include "GridWalkState.h"

14
grid/walk/GridWalkRandomHeadingUpdateAdv.h
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@@ -6,9 +6,7 @@
#include "../Grid.h"
#include "../../math/DrawList.h"
#include <KLib/math/distribution/Normal.h>
#include <KLib/math/distribution/Exponential.h>
#include "../../math/Distributions.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "GridWalkState.h"
@@ -55,11 +53,7 @@ public:
private:
// https://de.wikipedia.org/wiki/Logistische_Verteilung
/** alpha = move the center, beta = slope */
const float logisticDist(const float x, const float alpha, const float beta) {
return 1 / (1 + std::exp( -((x-alpha)/beta) ) );
}
// NOTE: allocate >>ONCE<<! otherwise random numbers will NOT work!
@@ -83,10 +77,10 @@ private:
const float diffRad = potentialHeading.getDiffHalfRAD(cur.heading);
// weight this change
const float prob1 = K::NormalDistribution::getProbability(0, Angle::degToRad(40), diffRad);
const float prob1 = Distribution::Normal<float>::getProbability(0, Angle::degToRad(40), diffRad);
// add the node's importance factor into the calculation
const float prob2 = logisticDist(neighbor.imp, 1.0, 0.05);
const float prob2 = Distribution::Logistic<float>::getCDF(neighbor.imp, 1.0, 0.05);
//const float prob2 = std::pow(neighbor.imp, 10);
// final importance

4
grid/walk/GridWalkWeighted.h
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@@ -5,7 +5,7 @@
#include "../Grid.h"
#include "../../math/DrawList.h"
#include <KLib/math/distribution/Normal.h>
#include "../../math/Distributions.h"
/**
* perform walks on the grid based on some sort of weighting
@@ -87,7 +87,7 @@ private:
const float diff = cur.heading.getDiffHalfRAD(potentialHeading);
// probability for this direction change?
double prob = K::NormalDistribution::getProbability(0, HEADING_DIFF_SIGMA, diff);
double prob = Distribution::Normal<float>::getProbability(0, HEADING_DIFF_SIGMA, diff);
// perfer locations reaching the target
const double shortening = cur.node->distToTarget - neighbor.distToTarget;