worked on synthetic sensor data

synthetic/SyntheticPath.h

@@ -4,18 +4,23 @@
 #include "../math/Interpolator.h"
 #include "../floorplan/v2/Floorplan.h"
 #include "../floorplan/v2/FloorplanHelper.h"
+#include "../floorplan/v2/FloorplanHelper.h"
 
 /** allows interpolation along a synthetic path */
 class SyntheticPath : private Interpolator<float, Point3> {
 
 	using Base = Interpolator<float, Point3>;
 	using Entry = Base::InterpolatorEntry;
+	const Floorplan::IndoorMap* map;
+
 
 public:
 
 	/** create path using the given ground-truth points from the map */
 	void create(const Floorplan::IndoorMap* map, std::vector<int> ids) {
 
+		this->map = map;
+
 		// get all ground-truth points from the map
 		auto gtps = FloorplanHelper::getGroundTruthPoints(map);
 		float dist = 0;
@@ -38,6 +43,8 @@ public:
 		return Base::getEntries();
 	}
 
+
+
 	/** smooth harsh angles */
 	void smooth(float delta = 1, int numRuns = 1) {
 
@@ -104,6 +111,16 @@ public:
 		return Base::get(distance);
 	}
 
+	/** is the given position part of a floor (or in the air) */
+	bool isOnFloor(const float distance) const {
+		const Point3 pos = getPosAfterDistance(distance);
+		for (const Floorplan::Floor* floor : map->floors) {
+			const float delta = std::abs(floor->atHeight - pos.z);
+			if (delta < 0.1) {return true;}
+		}
+		return false;
+	}
+
 };
 
 #endif // INDOOR_SYNTEHTICPATH_H