added new assertins

added some temporary eval parts
new helper methods
worked on the walkers

grid/factory/GridImportance.h

@@ -40,6 +40,9 @@ public:
 		GridFactory<T> fac(inv);
 		fac.addInverted(g, z_cm);
 
+		// sanity check
+		Assert::isFalse(inv.getNumNodes() == 0, "inverted grid is empty!");
+
 		// construct KNN search
 		KNN<Grid<T>, 3> knn(inv);
 
@@ -194,7 +197,7 @@ public:
 	float getWallImportance(float dist_m) {
 
 		// avoid sticking too close to walls (unlikely)
-		static Distribution::Normal<float> avoidWalls(0.0, 0.4);
+		static Distribution::Normal<float> avoidWalls(0.0, 0.5);
 
 		// favour walking near walls (likely)
 		static Distribution::Normal<float> stickToWalls(0.9, 0.5);

grid/walk/GridWalkLightAtTheEndOfTheTunnel.h

@@ -155,11 +155,14 @@ private:
 		// update the heading-change and walked-distance
 		next.headingChange_rad += next.heading.getRAD() - cur.heading.getRAD();
 		next.distanceWalked_m += walked_m;
+		++((T*)next.node)->cnt;		// TODO: eval only
 
 		if (next.node->z_cm != cur.node->z_cm) {
 			int i = 0;
 		}
 
+
+
 		// done?
 		if (distRest_m <= 0) {return next;}
 

grid/walk/GridWalkSimpleControl.h

@@ -114,7 +114,7 @@ private:
 			if (drawer.getCumProbability() < 0.1 && (--retries) >= 0) {
 				walked_m = 0;
 				cur = start;
-				WHAT THE HELL
+				//WHAT THE HELL
 				if (retries == 0) { reqHeading = dChange.draw(); }
 				continue;
 			}