FHWS/Indoor
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removed gridSize from the template arguments

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- not needed and code much cleaner
some minor changes
new test-cases
This commit is contained in:
FrankE
2016-01-25 15:53:12 +01:00
parent 9947dced15
commit 5aedce47f1
16 changed files with 167 additions and 66 deletions
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4
tests/grid/GridImportance.cpp
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@@ -11,8 +11,8 @@ TEST(GridImportance, a) {
Grid<20, GP> g;
GridFactory<20, GP> gf(g);
Grid<GP> g(20);
GridFactory<GP> gf(g);
FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6);
Floor f1 = fpf.getFloor("1");

8
tests/grid/Plot.h
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@@ -51,13 +51,13 @@ public:
}
template <int gridSize_cm, typename T> Plot& showGrid(Grid<gridSize_cm, T>& g) {
template <typename T> Plot& showGrid(Grid<T>& g) {
addEdges(g);
addNodes(g);
return *this;
}
template <int gridSize_cm, typename T> Plot& addEdges(Grid<gridSize_cm, T>& g) {
template <typename T> Plot& addEdges(Grid<T>& g) {
// prevent adding edges twice
std::set<size_t> done;
@@ -78,7 +78,7 @@ public:
}
template <int gridSize_cm, typename T> Plot& addNodes(Grid<gridSize_cm, T>& g) {
template <typename T> Plot& addNodes(Grid<T>& g) {
for (GP& n1 : g) {
K::GnuplotPoint3 p1(n1.x_cm, n1.y_cm, n1.z_cm);
@@ -89,7 +89,7 @@ public:
}
template <int gridSize_cm, typename T> Plot& build(Grid<gridSize_cm, T>& g) {
template <typename T> Plot& build(Grid<T>& g) {
std::set<uint64_t> done;

8
tests/grid/TestAll.cpp
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@@ -13,13 +13,13 @@
TEST(TestAll, Nav) {
Grid<20, GP> g;
Grid<GP> g(20);
// dijkstra mapper
class TMP {
Grid<20, GP>& grid;
Grid<GP>& grid;
public:
TMP(Grid<20, GP>& grid) : grid(grid) {;}
TMP(Grid<GP>& grid) : grid(grid) {;}
int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
float getWeightBetween(const GP& n1, const GP& n2) const {
@@ -29,7 +29,7 @@ TEST(TestAll, Nav) {
}
} tmp(g);
GridFactory<20, GP> gf(g);
GridFactory<GP> gf(g);
// load floorplan
FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6);

18
tests/grid/TestGrid.cpp
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@@ -8,7 +8,7 @@
TEST(Grid, add) {
Grid<20, GP> grid;
Grid<GP> grid(20);
ASSERT_EQ(0, grid.add(GP()));
ASSERT_EQ(1, grid.add(GP()));
ASSERT_EQ(2, grid.add(GP()));
@@ -28,7 +28,7 @@ TEST(Grid, add) {
TEST(Grid, BBox) {
Grid<20, GP> grid;
Grid<GP> grid(20);
int idx = grid.add(GP(40,40,40));
ASSERT_EQ(30, grid.getBBox(idx).getMin().x);
ASSERT_EQ(50, grid.getBBox(idx).getMax().x);
@@ -40,7 +40,7 @@ TEST(Grid, BBox) {
TEST(Grid, connectBiDir) {
Grid<1, GP> grid;
Grid<GP> grid(1);
int idx1 = grid.add(GP( 0, 0, 0));
int idx2 = grid.add(GP( 0, 1, 0));
@@ -68,7 +68,7 @@ TEST(Grid, connectBiDir) {
TEST(Grid, disconnectBiDir) {
Grid<1, GP> grid;
Grid<GP> grid(1);
int idx1 = grid.add(GP( 0, 0, 0));
int idx2 = grid.add(GP( 0, 1, 0));
@@ -111,7 +111,7 @@ TEST(Grid, disconnectBiDir) {
TEST(Grid, uid) {
Grid<20, GP> grid;
Grid<GP> grid(20);
GP gp(20,40,60);
uint64_t uid = grid.getUID(gp);
@@ -125,7 +125,7 @@ TEST(Grid, uid) {
TEST(Grid, remove) {
Grid<1, GP> grid;
Grid<GP> grid(1);
GP gp1( 0, 0, 0);
GP gp2( 0, 1, 0);
@@ -162,7 +162,7 @@ TEST(Grid, remove) {
TEST(Grid, neighborIter) {
Grid<1, GP> grid;
Grid<GP> grid(1);
int idx1 = grid.add(GP( 0, 0, 0));
int idx2 = grid.add(GP( 0, 1, 0));
@@ -183,7 +183,7 @@ TEST(Grid, neighborIter) {
TEST(Grid, bbox) {
Grid<1, GP> grid;
Grid<GP> grid(1);
grid.add(GP( 0, 0, 0));
grid.add(GP( 0, 1, 0));
@@ -206,7 +206,7 @@ TEST(Grid, bbox) {
TEST(Grid, nearest) {
Grid<20, GP> grid;
Grid<GP> grid(20);
GP c1(20,20,20);
GP c2(40,40,40);

8
tests/grid/TestGridFactory.cpp
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@@ -10,10 +10,10 @@
TEST(GridFactory, create) {
Grid<20, GP> g;
Grid<20, GP> gInv;
Grid<GP> g(20);
Grid<GP> gInv(20);
GridFactory<20, GP> gf(g);
GridFactory<GP> gf(g);
FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 4);
Floor f1 = fpf.getFloor("1");
Floor f2 = fpf.getFloor("2");
@@ -24,7 +24,7 @@ TEST(GridFactory, create) {
gf.addStairs(s1_2, 20, 340);
gf.removeIsolated();
GridFactory<20, GP> gfInv(gInv);
GridFactory<GP> gfInv(gInv);
gfInv.addInverted(g, 20);
gfInv.addInverted(g, 340);

44
tests/grid/TestImportance.cpp Normal file
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@@ -0,0 +1,44 @@
#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../grid/factory/GridImportance.h"
#include "../../grid/factory/GridFactory.h"
#include "../../floorplan/FloorplanFactorySVG.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "../../grid/walk/GridWalkWeighted.h"
#include "Plot.h"
TEST(Importance, Doors) {
Grid<GP> g(20);
GridFactory<GP> gf(g);
// load floorplan
FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6);
Floor f1 = fpf.getFloor("1");
Floor f2 = fpf.getFloor("2");
Stairs s1_2 = fpf.getStairs("1_2");
// build the grid
gf.addFloor(f1, 20);
//gf.addFloor(f2, 340);
gf.addStairs(s1_2, 20, 340);
gf.removeIsolated();
// calculate node importance based on the floorplan (walls, ...)
GridImportance gi;
gi.addImportance(g, 20);
Plot p;
p.gp << "set view 0,0\n";
p.build(g);
p.addFloor(f1, 20);
p.fire();
}
#endif

8
tests/grid/TestWalk.cpp
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@@ -14,8 +14,8 @@
TEST(Walk, plot) {
Grid<20, GP> g;
GridFactory<20, GP> gf(g);
Grid<GP> g(20);
GridFactory<GP> gf(g);
bool use3D = true;
@@ -40,9 +40,9 @@ TEST(Walk, plot) {
// dijkstra mapper
class TMP {
Grid<20, GP>& grid;
Grid<GP>& grid;
public:
TMP(Grid<20, GP>& grid) : grid(grid) {;}
TMP(Grid<GP>& grid) : grid(grid) {;}
int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
float getWeightBetween(const GP& n1, const GP& n2) const {

6
tests/nav/dijkstra/TestDijkstra.cpp
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@@ -8,7 +8,7 @@
TEST(Dijkstra, build) {
Grid<1, GP> grid;
Grid<GP> grid(1);
int idx1 = grid.add(GP( 0, 0, 0));
int idx2 = grid.add(GP( 0, 1, 0));
@@ -22,9 +22,9 @@ TEST(Dijkstra, build) {
grid.connectBiDir(idx1, idx5);
class TMP {
Grid<1, GP>& grid;
Grid<GP>& grid;
public:
TMP(Grid<1, GP>& grid) : grid(grid) {;}
TMP(Grid<GP>& grid) : grid(grid) {;}
int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
float getWeightBetween(const GP& n1, const GP& n2) const {return ((Point3)n1 - (Point3)n2).length();}