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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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17
grid/Grid.h
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@@ -14,20 +14,21 @@
#include "../misc/Debug.h" #include "../misc/Debug.h"
/** /**
* grid of the given grid-size, storing some value which * grid of a given-size, storing some user-data-value which
* extends GridPoint and GridNode * - extends GridPoint and GridNode
* *
* Usage: * Usage:
* for (Node& n : grid) {...} * for (Node& n : grid) {...}
* for (Node& n2 : grid.neighbors(n)) {...} * for (Node& n2 : grid.neighbors(n)) {...}
* *
*/ */
template <int gridSize_cm, typename T> class Grid { template <typename T> class Grid {
static constexpr const char* name = "Grid"; static constexpr const char* name = "Grid";
#include "GridNeighborIterator.h" #include "GridNeighborIterator.h"
/** UID for nodes */
typedef uint64_t UID; typedef uint64_t UID;
private: private:
@@ -38,10 +39,13 @@ private:
/** UID -> index mapping */ /** UID -> index mapping */
std::unordered_map<UID, int> hashes; std::unordered_map<UID, int> hashes;
/** the user-given grid-size */
const int gridSize_cm;
public: public:
/** ctor */ /** ctor with the grid's size (in cm) */
Grid() { Grid(const int gridSize_cm) : gridSize_cm(gridSize_cm) {
static_assert((sizeof(T::_idx) > 0), "T must inherit from GridNode!"); static_assert((sizeof(T::_idx) > 0), "T must inherit from GridNode!");
static_assert((sizeof(T::x_cm) > 0), "T must inherit from GridPoint!"); static_assert((sizeof(T::x_cm) > 0), "T must inherit from GridPoint!");
} }
@@ -52,12 +56,15 @@ public:
/** no-assign */ /** no-assign */
void operator = (const Grid& o) = delete; void operator = (const Grid& o) = delete;
/** allows for-each iteration over all included nodes */ /** allows for-each iteration over all included nodes */
decltype(nodes.begin()) begin() {return nodes.begin();} decltype(nodes.begin()) begin() {return nodes.begin();}
/** allows for-each iteration over all included nodes */ /** allows for-each iteration over all included nodes */
decltype(nodes.end()) end() {return nodes.end();} decltype(nodes.end()) end() {return nodes.end();}
/** get the grid's size */
int getGridSize_cm() const {return gridSize_cm;}
/** /**
* add the given element to the grid. * add the given element to the grid.

10
grid/GridNeighborIterator.h
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@@ -8,7 +8,7 @@ class NeighborIter : std::iterator<std::input_iterator_tag, int> {
private: private:
/** the grid the src-node belongs to */ /** the grid the src-node belongs to */
Grid<gridSize_cm, T>* grid; Grid<T>* grid;
/** index of the source-node within its grid */ /** index of the source-node within its grid */
int srcNodeIdx; int srcNodeIdx;
@@ -19,8 +19,8 @@ private:
public: public:
/** ctor */ /** ctor */
NeighborIter(const Grid<gridSize_cm, T>& grid, const int srcNodeIdx, const int nIdx) : NeighborIter(const Grid<T>& grid, const int srcNodeIdx, const int nIdx) :
grid((Grid<gridSize_cm, T>*)&grid), srcNodeIdx(srcNodeIdx), nIdx(nIdx) {;} grid((Grid<T>*)&grid), srcNodeIdx(srcNodeIdx), nIdx(nIdx) {;}
/** next neighbor */ /** next neighbor */
NeighborIter& operator++() {++nIdx; return *this;} NeighborIter& operator++() {++nIdx; return *this;}
@@ -44,7 +44,7 @@ class NeighborForEach {
private: private:
/** the grid the src-node belongs to */ /** the grid the src-node belongs to */
const Grid<gridSize_cm, T>& grid; const Grid<T>& grid;
/** index of the source-node within its grid */ /** index of the source-node within its grid */
const int srcNodeIdx; const int srcNodeIdx;
@@ -52,7 +52,7 @@ private:
public: public:
/** ctor */ /** ctor */
NeighborForEach(const Grid<gridSize_cm, T>& grid, const int srcNodeIdx) : NeighborForEach(const Grid<T>& grid, const int srcNodeIdx) :
grid(grid), srcNodeIdx(srcNodeIdx) {;} grid(grid), srcNodeIdx(srcNodeIdx) {;}
/** starting point */ /** starting point */

6
grid/GridNode.h
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@@ -4,7 +4,8 @@
#include "GridNodeBBox.h" #include "GridNodeBBox.h"
#include "GridPoint.h" #include "GridPoint.h"
template<int, typename> class Grid; /** forward decl. */
template<typename> class Grid;
/** /**
@@ -17,7 +18,8 @@ struct GridNode {
private: private:
template<int, typename> friend class Grid; /** grant full access to the grid */
template<typename> friend class Grid;
/** INTERNAL: array-index */ /** INTERNAL: array-index */
int _idx; int _idx;

16
grid/factory/GridFactory.h
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@@ -11,7 +11,7 @@
#include "../../misc/Debug.h" #include "../../misc/Debug.h"
template <int gridSize_cm, typename T> class GridFactory { template <typename T> class GridFactory {
/** logging name */ /** logging name */
static constexpr const char* name = "GridFac"; static constexpr const char* name = "GridFac";
@@ -19,19 +19,21 @@ template <int gridSize_cm, typename T> class GridFactory {
private: private:
/** the grid to build into */ /** the grid to build into */
Grid<gridSize_cm, T>& grid; Grid<T>& grid;
public: public:
/** ctor with the grid to fill */ /** ctor with the grid to fill */
GridFactory(Grid<gridSize_cm, T>& grid) : grid(grid) {;} GridFactory(Grid<T>& grid) : grid(grid) {;}
/** add the given floor at the provided height (in cm) */ /** add the given floor at the provided height (in cm) */
void addFloor(const Floor& floor, const float z_cm) { void addFloor(const Floor& floor, const float z_cm) {
Log::add(name, "adding floor at height " + std::to_string(z_cm)); Log::add(name, "adding floor at height " + std::to_string(z_cm));
const float gridSize_cm = grid.getGridSize_cm();
// build grid-points // build grid-points
for(int x_cm = 0; x_cm < floor.getWidth_cm(); x_cm += gridSize_cm) { for(int x_cm = 0; x_cm < floor.getWidth_cm(); x_cm += gridSize_cm) {
for (int y_cm = 0; y_cm < floor.getDepth_cm(); y_cm += gridSize_cm) { for (int y_cm = 0; y_cm < floor.getDepth_cm(); y_cm += gridSize_cm) {
@@ -55,6 +57,8 @@ public:
Log::add(name, "connecting all adjacent nodes at height " + std::to_string(z_cm)); Log::add(name, "connecting all adjacent nodes at height " + std::to_string(z_cm));
const int gridSize_cm = grid.getGridSize_cm();
// connect adjacent grid-points // connect adjacent grid-points
for (int idx = 0; idx < grid.getNumNodes(); ++idx) { for (int idx = 0; idx < grid.getNumNodes(); ++idx) {
@@ -132,6 +136,8 @@ public:
int idx2 = -1; int idx2 = -1;
const int idx3 = n2.getIdx(); const int idx3 = n2.getIdx();
const int gridSize_cm = grid.getGridSize_cm();
// move upards in gridSize steps // move upards in gridSize steps
for (int z = gridSize_cm; z < zDiff; z+= gridSize_cm) { for (int z = gridSize_cm; z < zDiff; z+= gridSize_cm) {
@@ -161,11 +167,13 @@ public:
} }
/** add the inverted version of the given z-layer */ /** add the inverted version of the given z-layer */
void addInverted(const Grid<gridSize_cm, T>& gIn, const float z_cm) { void addInverted(const Grid<T>& gIn, const float z_cm) {
// get the original grid's bbox // get the original grid's bbox
BBox3 bb = gIn.getBBox(); BBox3 bb = gIn.getBBox();
const int gridSize_cm = grid.getGridSize_cm();
// build new grid-points // build new grid-points
for(int x_cm = bb.getMin().x; x_cm <= bb.getMax().x; x_cm += gridSize_cm) { for(int x_cm = bb.getMin().x; x_cm <= bb.getMax().x; x_cm += gridSize_cm) {
for (int y_cm = bb.getMin().y; y_cm < bb.getMax().y; y_cm += gridSize_cm) { for (int y_cm = bb.getMin().y; y_cm < bb.getMax().y; y_cm += gridSize_cm) {

68
grid/factory/GridImportance.h
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@@ -31,25 +31,26 @@ private:
public: public:
/** attach importance-factors to the grid */ /** attach importance-factors to the grid */
template <int gridSize_cm, typename T> void addImportance(Grid<gridSize_cm, T>& g, const float z_cm) { template <typename T> void addImportance(Grid<T>& g, const float z_cm) {
Log::add(name, "adding importance information to all nodes at height " + std::to_string(z_cm)); Log::add(name, "adding importance information to all nodes at height " + std::to_string(z_cm));
// get an inverted version of the grid // get an inverted version of the grid
Grid<gridSize_cm, T> inv; Grid<T> inv(g.getGridSize_cm());
GridFactory<gridSize_cm, T> fac(inv); GridFactory<T> fac(inv);
fac.addInverted(g, z_cm); fac.addInverted(g, z_cm);
// construct KNN search // construct KNN search
KNN<Grid<gridSize_cm, T>, 3> knn(inv); KNN<Grid<T>, 3> knn(inv);
// the number of neighbors to use // the number of neighbors to use
static constexpr int numNeighbors = 8; static constexpr int numNeighbors = 8;
for (int idx = 0; idx < g.getNumNodes(); ++idx) { // create list of all doors
std::vector<T> doors;
// process each point // process each node
T& n1 = (T&) g[idx]; for (T& n1 : g) {
// get the 10 nearest neighbors and their distance // get the 10 nearest neighbors and their distance
size_t indices[numNeighbors]; size_t indices[numNeighbors];
@@ -64,14 +65,51 @@ public:
} }
addImportance(n1, Units::cmToM(std::sqrt(squaredDist[0])) ); addImportance(n1, Units::cmToM(std::sqrt(squaredDist[0])) );
addDoor(n1, neighbors); //addDoor(n1, neighbors);
// is the current node a door?
if (isDoor(n1, neighbors)) {doors.push_back(n1);}
// favor stairs just like doors
if (isStaircase(g, n1)) {doors.push_back(n1);}
} }
KNNArray<std::vector<T>> knnArrDoors(doors);
KNN<KNNArray<std::vector<T>>, 3> knnDoors(knnArrDoors);
// process each node again
for (T& n1 : g) {
static K::NormalDistribution favorDoors(0.0, 0.6);
// get the distance to the nearest door
const float dist_m = Units::cmToM(knnDoors.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
// importance for this node (based on the distance from the next door)
const float imp = 1.0 + favorDoors.getProbability(dist_m) * 0.35;
// adjust
n1.imp *= imp;
}
}
/** is the given node connected to a staircase? */
template <typename T> bool isStaircase(Grid<T>& g, T& node) {
// if this node has a neighbor with a different z, this is a stair
for (T& neighbor : g.neighbors(node)) {
if (neighbor.z_cm != node.z_cm) {return true;}
}
return false;
} }
/** attach importance-factors to the grid */ /** attach importance-factors to the grid */
template <int gridSize_cm, typename T> void addDistanceToTarget(Grid<gridSize_cm, T>& g, Dijkstra<T>& d) { template <typename T> void addDistanceToTarget(Grid<T>& g, Dijkstra<T>& d) {
//Log::add(name, "adding importance information to all nodes at height " + std::to_string(z_cm)); //Log::add(name, "adding importance information to all nodes at height " + std::to_string(z_cm));
@@ -87,7 +125,7 @@ public:
} }
template <int gridSize_cm, typename T> void addImportance(Grid<gridSize_cm, T>& g, DijkstraNode<T>* start, DijkstraNode<T>* end) { template <typename T> void addImportance(Grid<T>& g, DijkstraNode<T>* start, DijkstraNode<T>* end) {
// routing path // routing path
DijkstraPath<T> path(end, start); DijkstraPath<T> path(end, start);
@@ -112,8 +150,8 @@ public:
} }
/** add importance to nSrc if it is part of a door */ /** is the given node (and its inverted neighbors) a door? */
template <typename T> void addDoor( T& nSrc, std::vector<T*> neighbors ) { template <typename T> bool isDoor( T& nSrc, std::vector<T*> neighbors ) {
MiniMat2 m; MiniMat2 m;
Point3 center = nSrc; Point3 center = nSrc;
@@ -126,7 +164,7 @@ public:
centroid /= neighbors.size(); centroid /= neighbors.size();
// if nSrc is too far from the centroid, this does not make sense // if nSrc is too far from the centroid, this does not make sense
if ((centroid-center).length() > 60) {return;} if ((centroid-center).length() > 20) {return false;}
// build covariance of the nearest-neighbors // build covariance of the nearest-neighbors
int used = 0; int used = 0;
@@ -138,7 +176,7 @@ public:
} }
// we need at least two points for the covariance // we need at least two points for the covariance
if (used < 2) {return;} if (used < 2) {return false;}
// check eigenvalues // check eigenvalues
MiniMat2::EV ev = m.getEigenvalues(); MiniMat2::EV ev = m.getEigenvalues();
@@ -147,7 +185,7 @@ public:
if (ev.e1 < ev.e2) {std::swap(ev.e1, ev.e2);} if (ev.e1 < ev.e2) {std::swap(ev.e1, ev.e2);}
// door? // door?
if ((ev.e2/ev.e1) < 0.15) { nSrc.imp *= 1.3; } return ((ev.e2/ev.e1) < 0.15) ;
} }

6
grid/walk/GridWalkLightAtTheEndOfTheTunnel.h
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@@ -41,7 +41,7 @@ private:
public: public:
/** ctor with the target you want to reach */ /** ctor with the target you want to reach */
template <int gridSize_cm, typename Access> GridWalkLightAtTheEndOfTheTunnel(Grid<gridSize_cm, T>& grid, const Access& acc, const T& target) { template <typename Access> GridWalkLightAtTheEndOfTheTunnel(Grid<T>& grid, const Access& acc, const T& target) {
// build all shortest path to reach th target // build all shortest path to reach th target
dijkstra.build(target, target, acc); dijkstra.build(target, target, acc);
@@ -60,7 +60,7 @@ public:
} }
template <int gridSize_cm> GridWalkState<T> getDestination(Grid<gridSize_cm, T>& grid, GridWalkState<T> start, float distance_m) { GridWalkState<T> getDestination(Grid<T>& grid, GridWalkState<T> start, float distance_m) {
int retries = 2; int retries = 2;
GridWalkState<T> res; GridWalkState<T> res;
@@ -84,7 +84,7 @@ public:
private: private:
template <int gridSize_cm> GridWalkState<T> walk(Grid<gridSize_cm, T>& grid, GridWalkState<T> cur, float distRest_m) { GridWalkState<T> walk(Grid<T>& grid, GridWalkState<T> cur, float distRest_m) {
drawer.reset();; drawer.reset();;

4
grid/walk/GridWalkWeighted.h
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@@ -45,7 +45,7 @@ private:
public: public:
template <int gridSize_cm> State getDestination(Grid<gridSize_cm, T>& grid, State start, float distance_m) { template <int gridSize_cm> State getDestination(Grid<T>& grid, State start, float distance_m) {
int retries = 2; int retries = 2;
State res; State res;
@@ -73,7 +73,7 @@ private:
return Heading(from.x_cm, from.y_cm, to.x_cm, to.y_cm); return Heading(from.x_cm, from.y_cm, to.x_cm, to.y_cm);
} }
template <int gridSize_cm> State walk(Grid<gridSize_cm, T>& grid, State cur, float distRest_m) { State walk(Grid<T>& grid, State cur, float distRest_m) {
drawer.reset();; drawer.reset();;

2
main.cpp
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@@ -15,7 +15,9 @@ int main(int argc, char** argv) {
#ifdef WITH_TESTS #ifdef WITH_TESTS
::testing::InitGoogleTest(&argc, argv); ::testing::InitGoogleTest(&argc, argv);
//::testing::GTEST_FLAG(filter) = "*Importance*";
::testing::GTEST_FLAG(filter) = "*Walk*"; ::testing::GTEST_FLAG(filter) = "*Walk*";
return RUN_ALL_TESTS(); return RUN_ALL_TESTS();
#endif #endif

4
tests/grid/GridImportance.cpp
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@@ -11,8 +11,8 @@ TEST(GridImportance, a) {
Grid<20, GP> g; Grid<GP> g(20);
GridFactory<20, GP> gf(g); GridFactory<GP> gf(g);
FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6); FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6);
Floor f1 = fpf.getFloor("1"); 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); addEdges(g);
addNodes(g); addNodes(g);
return *this; 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 // prevent adding edges twice
std::set<size_t> done; 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) { for (GP& n1 : g) {
K::GnuplotPoint3 p1(n1.x_cm, n1.y_cm, n1.z_cm); 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; std::set<uint64_t> done;

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

18
tests/grid/TestGrid.cpp
View File

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

8
tests/grid/TestGridFactory.cpp
View File

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

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

6
tests/nav/dijkstra/TestDijkstra.cpp
View File

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