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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26
grid/walk/GridWalkRandomHeadingUpdateAdv.h
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@@ -46,7 +46,7 @@ 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);
@@ -60,13 +60,18 @@ 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, float headChange = -1) {
drawer.reset();
GridWalkState<T> next;
// create a copy (to keep heading and walked distance)
GridWalkState<T> next = cur;
// change the heading at the beginning of each walk
if (headChange == -1) {headChange = headingChangeDist(gen);}
// get a new random heading
next.heading = cur.heading + headingChangeDist(gen);
next.heading = cur.heading + headChange;
// weight all neighbors based on this heading
for (T& neighbor : grid.neighbors(*cur.node)) {
@@ -81,8 +86,8 @@ private:
const float prob1 = Distribution::Normal<float>::getProbability(0, Angle::degToRad(40), diffRad);
// add the node's importance factor into the calculation
const float prob2 = Distribution::Logistic<float>::getCDF(neighbor.imp, 1.0, 0.05);
//const float prob2 = std::pow(neighbor.imp, 10);
//const float prob2 = Distribution::Logistic<float>::getCDF(neighbor.imp, 1.0, 0.05);
const float prob2 = std::pow(neighbor.imp, 10);
// final importance
const float prob = prob1 * prob2;
@@ -106,13 +111,18 @@ 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;
// done?
if (distRest_m <= 0) {return next;}
// another round..
return walk(grid, next, distRest_m);
return walk(grid, next, distRest_m, headChange);
}