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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25
grid/walk/GridWalkLightAtTheEndOfTheTunnel.h
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@@ -63,15 +63,15 @@ public:
}
GridWalkState<T> getDestination(Grid<T>& grid, GridWalkState<T> start, float distance_m) override {
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, const float distance_m, const float headChange_rad) override {
return GridWalkHelper::retryOrInvert(*this, 2, grid, start, distance_m);
return GridWalkHelper::retryOrInvert(*this, 2, grid, start, distance_m, headChange_rad);
}
private:
GridWalkState<T> walk(Grid<T>& grid, GridWalkState<T> cur, float distRest_m) {
GridWalkState<T> walk(Grid<T>& grid, GridWalkState<T>& cur, float distRest_m, const float headChange_rad) {
drawer.reset();
@@ -105,7 +105,10 @@ private:
}
GridWalkState<T> next(nullptr, cur.heading);
//GridWalkState<T> next(nullptr, cur.heading);
// create a copy (to keep heading and walked distance)
GridWalkState<T> next = cur;
// pick a random destination
T& nDir = drawer.get();
@@ -116,6 +119,7 @@ private:
next.heading += headingChangeDist(gen);
next.node = &nDir;
//// // compare two neighbors according to their implied heading change
//// auto compp = [&] (const T& n1, const T& n2) {
//// Heading h1 = GridWalkHelper::getHeading(*cur.node, n1);
@@ -145,13 +149,22 @@ private:
//// }
// get the distance up to this neighbor
distRest_m -= next.node->getDistanceInMeter(*cur.node);
const float walked_m = next.node->getDistanceInMeter(*cur.node);
distRest_m -= walked_m;
// update the heading-change and walked-distance
next.headingChange_rad += next.heading.getRAD() - cur.heading.getRAD();
next.distanceWalked_m += walked_m;
if (next.node->z_cm != cur.node->z_cm) {
int i = 0;
}
// done?
if (distRest_m <= 0) {return next;}
// another round..
return walk(grid, next, distRest_m);
return walk(grid, next, distRest_m, headChange_rad);
}