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/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h> #include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h> #include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h>
#include "../math/Distributions.h" #include "../math/distribution/Normal.h"
namespace NM { namespace NM {

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

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

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

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