FHWS/Indoor
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new bbox features (2D, 3D)

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added stair-sanitizing code
adjusted walkers
This commit is contained in:
FrankE
2016-02-06 15:02:41 +01:00
parent 382a046df1
commit 5b35b5d3e0
4 changed files with 74 additions and 8 deletions
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4
grid/walk/GridWalkPathControl.h
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@@ -91,11 +91,11 @@ private:
const float diff = possibleHead.getDiffHalfRAD(head);
// // compare this heading with the requested one
const double angleProb = Distribution::Normal<float>::getProbability(0, Angle::degToRad(15), diff);
const double angleProb = Distribution::Normal<float>::getProbability(0, Angle::degToRad(25), diff);
// const double angleProb = (diff <= Angle::degToRad(15)) ? 1 : 0.1; // favor best 3 angles equally
// nodes own importance
const double nodeProb = (possible.distToTarget < start.distToTarget) ? 1 : 0.0;
const double nodeProb = (possible.distToTarget < start.distToTarget) ? 1 : 0.025;
// bring it together
return angleProb * nodeProb;

2
grid/walk/GridWalkSimpleControl.h
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@@ -64,7 +64,7 @@ private:
// TODO: WHY?! not only when going back to the start?
if (start.x_cm == possible.x_cm && start.y_cm == possible.y_cm) {
if (start.z_cm == possible.z_cm) {return 0;} // back to the start
throw 1;
//throw 1;
return 0.5;// stair start/end TODO: fix
}