Merge branch 'master' of https://git.frank-ebner.de/FHWS/Indoor

tests/geo/TestHeading.cpp

@@ -52,13 +52,13 @@ TEST(Heading, eq) {
 
 }
 
-TEST(Heading, random) {
+//TEST(Heading, random) {
 
-	// two random values must not be equal
-	ASSERT_NE(Heading::rnd(), Heading::rnd());
-	ASSERT_NE(Heading::rnd(), Heading::rnd());
-	ASSERT_NE(Heading::rnd(), Heading::rnd());
+//	// two random values must not be equal
+//	ASSERT_NE(Heading::rnd(), Heading::rnd());
+//	ASSERT_NE(Heading::rnd(), Heading::rnd());
+//	ASSERT_NE(Heading::rnd(), Heading::rnd());
 
-}
+//}
 
 #endif

tests/math/TestDistribution.cpp

@@ -2,6 +2,26 @@
 
 #include "../Tests.h"
 #include "../../math/Distributions.h"
+#include "../../misc/Time.h"
+
+template <typename Dist> void benchDist(Dist dist) {
+
+	const int cnt = 1024*1024*32;
+	float f = 0;
+
+	auto tick = Time::tick();
+	for (int i = 0; i < cnt; ++i) {
+		f = dist.getProbability(f);
+	}
+	auto tock = Time::tick();
+
+	std::cout.imbue(std::locale("en_US.UTF-8"));
+	std::cout << (cnt / (Time::diffMS(tick, tock)+1) * 1000) << "/sec" << std::endl;
+
+
+}
+
+
 
 TEST(Distribution, Exp) {
 
@@ -15,4 +35,69 @@ TEST(Distribution, Exp) {
 
 }
 
+TEST(Distribution, Exp_Performance) {
+
+	Distribution::Exponential<float> dist(0.5);
+	benchDist(dist);
+
+}
+
+TEST(Distribution, BesselHelper) {
+
+	Distribution::Bessel<float> bessel;
+
+	const float delta = 0.001;
+	ASSERT_NEAR( 1.0, bessel.getModified(0, 0), delta);
+	ASSERT_NEAR(11.3, bessel.getModified(0, +4), 0.1);
+	ASSERT_NEAR(11.3, bessel.getModified(0, -4), 0.1);
+
+}
+
+TEST(Distribution, VonMises) {
+
+	Distribution::VonMises<float> dist4(0, 4);
+	Distribution::VonMises<float> dist2(0, 2);
+	Distribution::VonMises<float> dist1(0, 1);
+	Distribution::VonMises<float> dist05(0, 0.5);
+
+	const float delta = 0.01;
+	ASSERT_NEAR(0.768f, dist4.getProbability(0.0f), delta);
+	ASSERT_NEAR(0.515f, dist2.getProbability(0.0f), delta);
+	ASSERT_NEAR(0.342f, dist1.getProbability(0.0f), delta);
+	ASSERT_NEAR(0.24f, dist05.getProbability(0.0f), delta);
+
+}
+
+
+
+
+
+//#include <fstream>
+//TEST(Distribution, VonMisesDump) {
+
+//	Distribution::VonMises<float> dist1(0, 4.0);
+//	auto dist2 = dist1.getLUT();
+
+//	std::ofstream f1("/tmp/1.dat");
+//	std::ofstream f2("/tmp/2.dat");
+//	for (float i = -4; i <= +4; i += 0.001) {
+//		f1 << i << " " << dist1.getProbability(i) << std::endl;
+//		f2 << i << " " << dist2.getProbability(i) << std::endl;
+//	}
+//	f1.close();
+//	f2.close();
+
+//}
+
+TEST(Distribution, VonMises_Performance) {
+	Distribution::VonMises<float> dist(0, 2.0);
+	benchDist(dist);
+}
+
+TEST(Distribution, VonMisesLUT_Performance) {
+	Distribution::VonMises<float> src(0, 2.0);
+	auto dist = src.getLUT();
+	benchDist(dist);
+}
+
 #endif

tests/nav/a-star/TestAStar.cpp

@@ -0,0 +1,48 @@
+#ifdef WITH_TESTS
+
+#include "../../Tests.h"
+
+#include "../../../grid/Grid.h"
+#include "../../../nav/a-star/AStar.h"
+#include "../../grid/Plot.h"
+
+TEST(AStar, build) {
+
+	Grid<GP> grid(1);
+
+	int idx1 = grid.add(GP( 0, 0, 0));
+	int idx2 = grid.add(GP( 0, 1, 0));
+	int idx3 = grid.add(GP( 0,-1, 0));
+	int idx4 = grid.add(GP( 1, 0, 0));
+	int idx5 = grid.add(GP(-1, 0, 0));
+
+	grid.connectBiDir(idx1, idx2);
+	grid.connectBiDir(idx1, idx3);
+	grid.connectBiDir(idx1, idx4);
+	grid.connectBiDir(idx1, idx5);
+
+	class TMP {
+		Grid<GP>& grid;
+	public:
+		TMP(Grid<GP>& grid) : grid(grid) {;}
+//		int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
+//		const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
+		const std::vector<GP>& getAllNodes() const {return grid.getNodes();}
+		decltype(grid.neighbors(GP())) getNeighbors(const GP& node) const {return grid.neighbors(node);}
+		float getWeightBetween(const GP& n1, const GP& n2) const {return ((Point3)n1 - (Point3)n2).length();}
+		float getHeuristic(const GP& n1, const GP& n2) const {return std::abs(n1.x_cm - n2.x_cm) + std::abs(n1.y_cm - n2.y_cm);}
+	} tmp(grid);
+
+	AStar<GP> nav;
+	std::vector<const GP*> vec = nav.get(&grid[0], &grid[4], tmp);
+
+	for (const GP* g : vec) {
+		std::cout << g << std::endl;
+	}
+
+
+}
+
+
+
+#endif