FHWS/Indoor
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new test cases

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worked on all walkers
new helper methods
new distributions
some bugfixes
This commit is contained in:
FrankE
2016-02-02 21:43:15 +01:00
parent ec86b07c43
commit 2e2c1a3004
18 changed files with 363 additions and 41 deletions
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15
grid/walk/GridWalkHelper.h
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@@ -22,7 +22,13 @@ public:
const float d1 = h.getDiffHalfRAD(h1);
const float d2 = h.getDiffHalfRAD(h2);
//return (h.getDiffHalfRAD(h1) < h.getDiffHalfRAD(h2));
return (d1 == d2) ? (rand() < RAND_MAX/2) : (d1 < d2); // same heading? > random decision
//return (d1 == d2) ? (rand() < RAND_MAX/2) : (d1 < d2); // same heading? > random decision
//return ((from.z_cm != n1.z_cm) && (from.z_cm == n2.z_cm)) ||
// (d1 < d2) ||
//(rand() < RAND_MAX/2);
if (d1 < d2) {return true;}
else if (d1 == d2) {return n1.z_cm != n2.z_cm;}
return false;
};
auto neighbors = grid.neighbors(from);
@@ -39,7 +45,7 @@ public:
* if this also fails
* - add some randomness and try again
*/
template <typename T, typename Walker> static GridWalkState<T> retryOrInvert(Walker& w, const int numRetries, Grid<T>& grid, GridWalkState<T> start, float distance_m) {
template <typename T, typename Walker> static GridWalkState<T> retryOrInvert(Walker& w, const int numRetries, Grid<T>& grid, GridWalkState<T> start, float distance_m, const float headChange_rad) {
Assert::isTrue(distance_m >= 0, "distance must not be negative!");
Assert::isNotNull(start.node, "starting node must not be null");
@@ -53,13 +59,14 @@ public:
// try to walk the given distance from the start
// if this fails (reached a dead end) -> restart (maybe the next try finds a better path)
do {
res = w.walk(grid, start, distance_m);
res = w.walk(grid, start, distance_m, headChange_rad);
} while (res.node == nullptr && --retries);
// still reaching a dead end?
// -> try a walk in the opposite direction instead
if (res.node == nullptr) {
res = w.walk(grid, GridWalkState<T>(start.node, start.heading.getInverted()), distance_m);
GridWalkState<T> newState(start.node, start.heading.getInverted());
res = w.walk(grid, newState, distance_m, headChange_rad);
}
// still nothing found? -> modify and try again