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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14
grid/walk/GridWalkPushForward.h
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@@ -43,7 +43,7 @@ public:
;
}
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T> start, const float distance_m) override {
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, const float distance_m) override {
return GridWalkHelper::retryOrInvert(*this, 2, grid, start, distance_m);
@@ -54,7 +54,7 @@ private:
// NOTE: allocate >>ONCE<<! otherwise random numbers will NOT work!
DrawList<T*> drawer;
GridWalkState<T> walk(Grid<T>& grid, const GridWalkState<T> cur, float distRest_m) {
GridWalkState<T> walk(Grid<T>& grid, const GridWalkState<T>& cur, float distRest_m) {
drawer.reset();
@@ -93,7 +93,8 @@ private:
// all neighbors are unlikely? -> start over
if (drawer.getCumProbability() < 0.01) {return GridWalkState<T>();}
GridWalkState<T> next;
// create a copy (to keep heading and walked distance)
GridWalkState<T> next = cur;
// pick the neighbor best matching this new heading
next.node = drawer.get();
@@ -103,7 +104,12 @@ private:
next.avg = (cur.avg * 0.9) + (Point3(next.node->x_cm, next.node->y_cm, next.node->z_cm) * 0.1);
// 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;
// done?
if (distRest_m <= 0) {return next;}