worked on grid-walker

started adding code for synthetic sensor simulation based on given paths

synthetic/SyntheticWalker.h

@@ -0,0 +1,70 @@
+#ifndef SYNTHETICWALKER_H
+#define SYNTHETICWALKER_H
+
+#include "SyntheticPath.h"
+
+/** walk along a path using a known walking speed */
+class SyntheticWalker {
+
+public:
+
+	class Listener {
+	public:
+		virtual void onWalk(Timestamp walkedTime, float walkedDistance, const Point3 curPos) = 0;
+	};
+
+private:
+
+	/** the path to walk along */
+	SyntheticPath path;
+
+	/** walking-speed in meter per sec */
+	float walkSpeed_meterPerSec = 1.2;
+
+	/** adjusted while walking */
+	float walkedDistance = 0;
+
+	/** adjusted while walking */
+	Timestamp walkedTime;
+
+	/** the listener to inform */
+	std::vector<Listener*> listeners;
+
+	const char* name = "SynWalker";
+
+public:
+
+	/** ctor */
+	SyntheticWalker(SyntheticPath path) : path(path) {
+		;
+	}
+
+	/** attach a new listener */
+	void addListener(Listener* l) {
+		this->listeners.push_back(l);
+	}
+
+	/** increment the walk */
+	void tick(const Timestamp timePassed) {
+
+		// update time
+		this->walkedTime += timePassed;
+
+		// update the walked distance using the walking speed
+		this->walkedDistance += walkSpeed_meterPerSec * timePassed.sec();
+
+		// get the current position along the path
+		const Point3 curPosOnPath = path.getPosAfterDistance(this->walkedDistance);
+
+		Log::add(name, "walkTime: " + std::to_string(walkedTime.sec()) + " walkDistance: " + std::to_string(walkedDistance) + " -> " + curPosOnPath.asString() );
+
+		// inform listener
+		for (Listener* l : listeners) {l->onWalk(walkedTime, walkedDistance, curPosOnPath);}
+
+	}
+
+
+
+};
+
+#endif // SYNTHETICWALKER_H