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

data/File.h

@@ -0,0 +1,115 @@
+#ifndef FS_FILE_H
+#define FS_FILE_H
+
+#include <string>
+#include <vector>
+
+
+
+
+#if __cplusplus > 201103L
+
+	// use new cross-platform std::experimental stuff
+	#include <experimental/filesystem>
+
+namespace FS {
+
+	class File {
+
+		std::experimental::filesystem::path path;
+
+	public:
+
+		File(const std::string& fileOrFolder) : path(fileOrFolder) {
+
+		}
+
+		bool exists() const {
+			return std::experimental::filesystem::exists(path);
+		}
+
+		std::vector<File> listFiles() const {
+			std::vector<File> res;
+			for (std::experimental::filesystem::directory_entry entry : std::experimental::filesystem::directory_iterator(path)) {
+				const std::string abs = entry.path().string();
+				res.push_back(File(abs));
+			}
+			return res;
+		}
+
+		std::string getPath() const {
+			return path.string();
+		}
+
+		std::string getFilename() const {
+			return path.filename().string();
+		}
+
+	};
+
+}
+
+#else
+
+	// use linux-only fallback
+
+	#include <dirent.h>
+	#include <sys/stat.h>
+
+namespace FS {
+
+	class File {
+
+		std::string path;
+
+	public:
+
+		File(const std::string& fileOrFolder) : path(fileOrFolder) {
+
+		}
+
+		bool exists() const {
+			struct stat st;
+			int res = stat(path.c_str(), &st );
+			return res == 0;
+		}
+
+		/** list of all files/folders within the current folder */
+		std::vector<File> listFiles() const {
+
+			std::vector<File> res;
+
+			DIR* dir;
+
+			dir = opendir(path.c_str());
+			if (!dir) {throw Exception("failed to open folder " + path);}
+
+			// fetch all entries
+			while(true) {
+				dirent* entry = readdir(dir);
+				if (!entry) {break;}
+				const std::string abs = path + "/" + entry->d_name;
+				res.push_back(File(abs));
+			}
+
+			return res;
+
+		}
+
+		const std::string& getPath() const {
+			return path;
+		}
+
+		const std::string getFilename() const {
+			const size_t lastSlash = path.find_last_of("/");
+			if (std::string::npos == lastSlash) {return path;}
+			std::string name = path.substr(lastSlash+1);
+			return name;
+		}
+
+	};
+
+}
+#endif
+
+#endif // FS_FILE_H

geo/Triangle3.h

@@ -136,6 +136,14 @@ public:
 
 	}
 
+	/** perform some sanity checks */
+	bool isValid() const {
+		if (p1 == p2) {return false;}
+		if (p1 == p3) {return false;}
+		if (p2 == p3) {return false;}
+		return true;
+	}
+
 /*
 	int rayIntersectsTriangle(float *p, float *d,
 				float *v0, float *v1, float *v2) {

grid/walk/v2/GridWalker.h

@@ -5,7 +5,7 @@
 #include "../../Grid.h"
 #include "../../../math/DrawList.h"
 #include "modules/WalkModule.h"
-#include "../../../math/Distributions.h"
+#include "../../../math/distribution/Normal.h"
 #include "../../../math/Stats.h"
 
 /**

grid/walk/v2/modules/WalkModuleActivityControl.h

@@ -4,7 +4,7 @@
 #include "WalkModule.h"
 
 #include "../../../../geo/Heading.h"
-#include "../../../../math/Distributions.h"
+#include "../../../../math/distribution/Normal.h"
 
 #include "../../../../sensors/activity/ActivityButterPressure.h"
 

grid/walk/v2/modules/WalkModuleFavorZ.h

@@ -5,7 +5,7 @@
 #include "WalkStateHeading.h"
 
 #include "../../../../geo/Heading.h"
-#include "../../../../math/Distributions.h"
+#include "../../../../math/distribution/Normal.h"
 
 #include "../../../../Assertions.h"
 

grid/walk/v2/modules/WalkModuleFollowDestination.h

@@ -7,7 +7,7 @@
 #include "../../../../nav/dijkstra/Dijkstra.h"
 #include "../../../../nav/dijkstra/DijkstraPath.h"
 
-#include "../../../../math/Distributions.h"
+#include "../../../../math/distribution/Normal.h"
 #include "../../../../Assertions.h"
 
 

grid/walk/v2/modules/WalkModuleHeadingControl.h

@@ -5,8 +5,9 @@
 #include "WalkStateHeading.h"
 
 #include "../../../../geo/Heading.h"
-#include "../../../../math/Distributions.h"
+#include "../../../../math/distribution/Normal.h"
-
+#include "../../../../math/distribution/LUT.h"
+#include "../../../../math/distribution/VonMises.h"
 
 /** keep the state's heading */
 template <typename Node, typename WalkState, typename Control> class WalkModuleHeadingControl : public WalkModule<Node, WalkState> {

sensors/radio/WiFiProbabilityFree.h

@@ -3,7 +3,9 @@
 
 #include "WiFiProbability.h"
 #include "model/WiFiModel.h"
-#include "../../math/Distributions.h"
+#include "../../math/distribution/Normal.h"
+#include "../../math/distribution/Region.h"
+#include "../../math/distribution/Exponential.h"
 #include "VAPGrouper.h"
 #include "../../floorplan/v2/Floorplan.h"
 

sensors/radio/WiFiProbabilityGrid.h

@@ -3,7 +3,7 @@
 
 #include <fstream>
 
-#include "../../math/Distributions.h"
+#include "../../math/distribution/Normal.h"
 #include "../../data/Timestamp.h"
 
 #include "WiFiGridNode.h"

wifi/estimate/ray3/ModelFactory.h

@@ -339,6 +339,13 @@ namespace Ray3D {
 
 			const std::string& name = foo->file;
 			Obstacle3D obs = OBJPool::get().getObject(name);
+
+			// perform sanity checks
+			if (!obs.isValid()) {
+				throw std::runtime_error("invalid obstacle-data detected");
+			}
+
+			// apply scaling/rotation/translation
 			obs = obs.scaled(foo->scale);
 			obs = obs.rotated_deg( Point3(foo->rot.x, foo->rot.y, foo->rot.z) );
 			obs = obs.translated(foo->pos + Point3(0,0,fpos.z1));

wifi/estimate/ray3/OBJPool.h

@@ -11,7 +11,8 @@
 // LINUX ONLY
 //#include <dirent.h>
 //#include <stdio.h>
-#include <experimental/filesystem>
+#include "../../../data/File.h"
+
 
 #include "../../../misc/Debug.h"
 
@@ -83,17 +84,17 @@ namespace Ray3D {
 		/** scan the given folder for all *.obj files */
 		void scanFolder(const std::string& folder) {
 
-			std::experimental::filesystem::path d(folder);
+			FS::File d(folder);
-			if (!std::experimental::filesystem::exists(d)) {
+			if (!d.exists()) {
 				throw Exception("OBJPool: folder not found: " + folder);
 			}
 
-			for (std::experimental::filesystem::directory_entry entry : std::experimental::filesystem::directory_iterator(d)) {
+			for (const FS::File& f : d.listFiles()) {
-				const std::string absFile = entry.path().string();
+				std::string name = f.getFilename();
-				if (endsWith(absFile, ".obj")) {
+				if (endsWith(name, ".obj")) {
-					std::string name = entry.path().filename().string();
+					//std::string name = entry.path().filename().string();
 					name = name.substr(0, name.length() - 4);	// without extension
-					load(absFile, name);
+					load(f.getPath(), name);
 				}
 			}
 

wifi/estimate/ray3/Obstacle3.h

@@ -89,6 +89,14 @@ namespace Ray3D {
 			return res;
 		}
 
+		/** perform sanity checks */
+		bool isValid() const {
+			for (const Triangle3& t : triangles) {
+				if (!t.isValid()) {return false;}
+			}
+			return true;
+		}
+
 	};
 
 }