FHWS/Indoor
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removed some obsolete includes

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kazu
2018-06-06 11:40:04 +02:00
parent 9e6d9f4ce7
commit 2036469491
6 changed files with 31 additions and 30 deletions
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2
navMesh/NavMeshDebug.h
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@@ -9,7 +9,7 @@
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h>
#include "../math/Distributions.h"
#include "../math/distribution/Normal.h"
namespace NM {

52
navMesh/walk/NavMeshWalkEval.h
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@@ -3,7 +3,7 @@
#include "NavMeshWalkParams.h"
#include "../NavMeshLocation.h"
#include "../../math/Distributions.h"
#include "../../math/distribution/Normal.h"
#include "../../misc/PerfCheck.h"
#include "../../Assertions.h"
#include "../meta/NavMeshDijkstra.h"
@@ -44,40 +44,40 @@ namespace NM {
/**
* evaluate the difference between head(start,end) and the requested heading
*/
template <typename Tria> class WalkEvalHeadingStartEndVonMises : public NavMeshWalkEval<Tria> {
// /**
// * evaluate the difference between head(start,end) and the requested heading
// */
// template <typename Tria> class WalkEvalHeadingStartEndVonMises : public NavMeshWalkEval<Tria> {
const double sigma_rad;
const double kappa;
Distribution::VonMises<double> _dist;
Distribution::LUT<double> dist;
// const double sigma_rad;
// const double kappa;
// Distribution::VonMises<double> _dist;
// Distribution::LUT<double> dist;
public:
// public:
// kappa = 1/var = 1/sigma^2
// https://en.wikipedia.org/wiki/Von_Mises_distribution
WalkEvalHeadingStartEndVonMises(const double sigma_rad = 0.04) :
sigma_rad(sigma_rad), kappa(1.0/(sigma_rad*sigma_rad)), _dist(0, kappa), dist(_dist.getLUT()) {
;
}
// // kappa = 1/var = 1/sigma^2
// // https://en.wikipedia.org/wiki/Von_Mises_distribution
// WalkEvalHeadingStartEndVonMises(const double sigma_rad = 0.04) :
// sigma_rad(sigma_rad), kappa(1.0/(sigma_rad*sigma_rad)), _dist(0, kappa), dist(_dist.getLUT()) {
// ;
// }
virtual double getProbability(const NavMeshPotentialWalk<Tria>& walk) const override {
// virtual double getProbability(const NavMeshPotentialWalk<Tria>& walk) const override {
PERF_REGION(4, "WalkEvalHeadingStartEnd");
// PERF_REGION(4, "WalkEvalHeadingStartEnd");
Assert::notEqual(walk.requested.start.pos, walk.end.pos, "start equals end position");
// Assert::notEqual(walk.requested.start.pos, walk.end.pos, "start equals end position");
const Heading head(walk.requested.start.pos.xy(), walk.end.pos.xy());
const float diff = head.getDiffHalfRAD(walk.requested.heading);
//const float diff = Heading::getSignedDiff(params.heading, head);
//return Distribution::Normal<double>::getProbability(0, sigma, diff);
return dist.getProbability(diff);
// const Heading head(walk.requested.start.pos.xy(), walk.end.pos.xy());
// const float diff = head.getDiffHalfRAD(walk.requested.heading);
// //const float diff = Heading::getSignedDiff(params.heading, head);
// //return Distribution::Normal<double>::getProbability(0, sigma, diff);
// return dist.getProbability(diff);
}
// }
};
// };
/**
* evaluate the difference between head(start,end) and the requested heading

1
navMesh/walk/NavMeshWalkSemiDirected.h
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@@ -5,6 +5,7 @@
#include "../NavMesh.h"
#include "../NavMeshLocation.h"
#include "../../geo/Heading.h"
#include "../../math/distribution/Uniform.h"
#include "NavMeshSub.h"
#include "NavMeshWalkParams.h"

2
sensors/imu/PoseDetection.h
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@@ -11,7 +11,7 @@
#include "../../geo/Point3.h"
#include <eigen3/Eigen/Dense>
//#include <eigen3/Eigen/Dense>
#include "PoseDetectionPlot.h"

2
sensors/imu/TurnDetection.h
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@@ -10,7 +10,7 @@
#include "../../geo/Point3.h"
#include "PoseDetection.h"
#include <eigen3/Eigen/Dense>
//#include <eigen3/Eigen/Dense>
#include <cmath>
#include <vector>

2
synthetic/SyntheticTurns.h
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@@ -7,7 +7,7 @@
#include "../sensors/imu/GyroscopeData.h"
#include "../geo/Heading.h"
#include "../math/Distributions.h"
#include "../math/distribution/Normal.h"
/**
* simulates acceleromter and gyroscope data