FHWS/Indoor
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minor changes to floorplan

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fixed some compile issues
worked on nav-meshes
added some tests
This commit is contained in:
FrankE
2018-01-16 12:41:05 +01:00
parent fee6cd3496
commit 55061ef0da
24 changed files with 1288 additions and 205 deletions
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46
navMesh/walk/NavMeshWalkEval.h
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@@ -4,6 +4,7 @@
#include "NavMeshWalkParams.h"
#include "../NavMeshLocation.h"
#include "../../math/Distributions.h"
#include "../../misc/PerfCheck.h"
namespace NM {
@@ -13,6 +14,10 @@ namespace NM {
NavMeshLocation<Tria> end;
NavMeshPotentialWalk(const NavMeshWalkParams<Tria>& requested) : requested(requested) {
;
}
NavMeshPotentialWalk(const NavMeshWalkParams<Tria>& requested, const NavMeshLocation<Tria>& end) : requested(requested), end(end) {
;
}
@@ -57,10 +62,9 @@ namespace NM {
virtual double getProbability(const NavMeshPotentialWalk<Tria>& walk) const override {
if (walk.requested.start.pos == walk.end.pos) {
std::cout << "warn! start-position == end-positon" << std::endl;
return 0;
}
PERF_REGION(4, "WalkEvalHeadingStartEnd");
Assert::notEqual(walk.requested.start.pos, walk.end.pos, "start equals end position");
const Heading head(walk.requested.start.pos.xy(), walk.end.pos.xy());
const float diff = head.getDiffHalfRAD(walk.requested.heading);
@@ -72,6 +76,38 @@ namespace NM {
};
/**
* evaluate the difference between head(start,end) and the requested heading
*/
template <typename Tria> class WalkEvalHeadingStartEndNormal : public NavMeshWalkEval<Tria> {
const double sigma_rad;
Distribution::Normal<double> dist;
public:
WalkEvalHeadingStartEndNormal(const double sigma_rad = 0.04) :
sigma_rad(sigma_rad), dist(0, sigma_rad) {
;
}
virtual double getProbability(const NavMeshPotentialWalk<Tria>& walk) const override {
PERF_REGION(4, "WalkEvalHeadingStartEnd");
Assert::notEqual(walk.requested.start.pos, walk.end.pos, "start equals end position");
const Heading head(walk.requested.start.pos.xy(), walk.end.pos.xy());
const float diff = head.getDiffHalfRAD(walk.requested.heading);
//const float diff = Heading::getSignedDiff(params.heading, head);
//return Distribution::Normal<double>::getProbability(0, sigma, diff);
return dist.getProbability(diff);
}
};
/**
* evaluate the difference between distance(start, end) and the requested distance
*/
@@ -87,6 +123,8 @@ namespace NM {
virtual double getProbability(const NavMeshPotentialWalk<Tria>& walk) const override {
PERF_REGION(5, "WalkEvalDistance");
const float requestedDistance_m = walk.requested.getToBeWalkedDistance();
const float walkedDistance_m = walk.requested.start.pos.getDistance(walk.end.pos);
const float diff = walkedDistance_m - requestedDistance_m;