From 2036469491c960f2dc074bbceceeebf5029df808 Mon Sep 17 00:00:00 2001
From: kazu <kazu@localhost.localdomain>
Date: Wed, 6 Jun 2018 11:40:04 +0200
Subject: [PATCH] removed some obsolete includes

---
 navMesh/NavMeshDebug.h                 |  2 +-
 navMesh/walk/NavMeshWalkEval.h         | 52 +++++++++++++-------------
 navMesh/walk/NavMeshWalkSemiDirected.h |  1 +
 sensors/imu/PoseDetection.h            |  2 +-
 sensors/imu/TurnDetection.h            |  2 +-
 synthetic/SyntheticTurns.h             |  2 +-
 6 files changed, 31 insertions(+), 30 deletions(-)

diff --git a/navMesh/NavMeshDebug.h b/navMesh/NavMeshDebug.h
index b6d957c..e713756 100644
--- a/navMesh/NavMeshDebug.h
+++ b/navMesh/NavMeshDebug.h
@@ -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 {
 
diff --git a/navMesh/walk/NavMeshWalkEval.h b/navMesh/walk/NavMeshWalkEval.h
index cc3068e..c0fec12 100644
--- a/navMesh/walk/NavMeshWalkEval.h
+++ b/navMesh/walk/NavMeshWalkEval.h
@@ -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
diff --git a/navMesh/walk/NavMeshWalkSemiDirected.h b/navMesh/walk/NavMeshWalkSemiDirected.h
index 2eb661e..e14a8e4 100644
--- a/navMesh/walk/NavMeshWalkSemiDirected.h
+++ b/navMesh/walk/NavMeshWalkSemiDirected.h
@@ -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"
diff --git a/sensors/imu/PoseDetection.h b/sensors/imu/PoseDetection.h
index f7278ff..c3c0770 100644
--- a/sensors/imu/PoseDetection.h
+++ b/sensors/imu/PoseDetection.h
@@ -11,7 +11,7 @@
 
 #include "../../geo/Point3.h"
 
-#include <eigen3/Eigen/Dense>
+//#include <eigen3/Eigen/Dense>
 
 #include "PoseDetectionPlot.h"
 
diff --git a/sensors/imu/TurnDetection.h b/sensors/imu/TurnDetection.h
index 01dbe7c..7e932d6 100644
--- a/sensors/imu/TurnDetection.h
+++ b/sensors/imu/TurnDetection.h
@@ -10,7 +10,7 @@
 #include "../../geo/Point3.h"
 #include "PoseDetection.h"
 
-#include <eigen3/Eigen/Dense>
+//#include <eigen3/Eigen/Dense>
 
 #include <cmath>
 #include <vector>
diff --git a/synthetic/SyntheticTurns.h b/synthetic/SyntheticTurns.h
index ba8beb0..2f512e5 100644
--- a/synthetic/SyntheticTurns.h
+++ b/synthetic/SyntheticTurns.h
@@ -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