FHWS/Indoor
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some fixes [multithreading,..]

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needed interface changes [new options]
logger for android
wifi-ap-optimization
new test-cases
This commit is contained in:
FrankE
2016-09-28 12:19:14 +02:00
parent 91e3367372
commit 4f511d907e
62 changed files with 1418 additions and 175 deletions
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29
grid/factory/v2/Importance.h
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@@ -86,8 +86,8 @@ public:
KNN<KNNArray<std::vector<T>>, 3> knnStairs(knnArrStairs);
// probability adjustments
Distribution::Normal<float> avoidWalls(0.0, 0.35);
Distribution::Normal<float> favorDoors(0.0f, 0.5f);
Distribution::Triangle<float> avoidWalls(0.0, 0.45f);
Distribution::Normal<float> favorDoors(0.0f, 0.4f);
Distribution::Normal<float> favorStairs(0.0f, 1.5f);
if (l) {
@@ -120,20 +120,33 @@ public:
// get the distance to the nearest stair
const float distToStair_m = Units::cmToM(knnStairs.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
const bool useNormal = (distToWall_m < distToDoor_m && distToWall_m < distToStair_m);
const bool useNormal = (distToWall_m*3.5 < distToDoor_m && distToWall_m*3.5 < distToStair_m);
// final probability
n1.navImportance = 1.0f;
n1.navImportance += favorDoors.getProbability(distToDoor_m) * 1.25f;
n1.navImportance += favorStairs.getProbability(distToStair_m) * 30.5f;
n1.walkImportance = 1.0f;
//n1.walkImportance += favorDoors.getProbability(distToDoor_m) * 0.75f;
n1.walkImportance += favorStairs.getProbability(distToStair_m) * 1.0f;
// use wall avoidance
if (useNormal) {
n1.navImportance -= avoidWalls.getProbability(distToWall_m) * 0.5f;
n1.walkImportance -= avoidWalls.getProbability(distToWall_m) * 0.4f;
}
// navigation importance is calculated using other formulae
n1.navImportance = 1.0f;
if (useNormal) {
n1.navImportance -= avoidWalls.getProbability(distToWall_m) * 0.4;
}
//n1.navImportance += favorDoors.getProbability(distToDoor_m) * 0.5;
n1.navImportance += favorStairs.getProbability(distToStair_m) * 1.0;
// sanity check
Assert::isTrue(n1.navImportance >= 0, "detected negative importance. does not make sense!");
Assert::isTrue(n1.walkImportance >= 0, "detected negative walk importance. does not make sense!");
Assert::isTrue(n1.navImportance >= 0, "detected negative nav importance. does not make sense!");
}