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);