FHWS/Indoor
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Merge branch 'master' of https://git.frank-ebner.de/FHWS/Indoor

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This commit is contained in:
toni
2016-10-01 13:33:04 +02:00
parent 7fcdaa9c86 51c0945e12
commit 87d5e2ab4c
15 changed files with 343 additions and 64 deletions
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6
grid/factory/v2/GridNodeImportance.h
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@@ -10,6 +10,12 @@ struct GridNodeImportance {
/** get the node's nav importance */
float getNavImportance() const {return navImportance;}
/** importance-weight for random walks */
float walkImportance;
/** get the node's random-walk importance */
float getWalkImportance() const {return walkImportance;}
/** ctor */
GridNodeImportance() : navImportance(1.0f) {;}

26
grid/factory/v2/Importance.h
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@@ -86,7 +86,7 @@ public:
KNN<KNNArray<std::vector<T>>, 3> knnStairs(knnArrStairs);
// probability adjustments
Distribution::Triangle<float> avoidWalls(0.0, 0.45f);
Distribution::Triangle<float> avoidWalls(0.0, 0.35f);
Distribution::Normal<float> favorDoors(0.0f, 0.4f);
Distribution::Normal<float> favorStairs(0.0f, 1.5f);
@@ -111,8 +111,8 @@ public:
// get the node
T& n1 = g[i];
// get the distance to the nearest wall
const float distToWall_m = Units::cmToM(knn.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
// get the distance to the nearest outline node [an outline node is directly adjacent to a wall]
const float distToOutline_m = Units::cmToM(knn.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
// get the distance to the nearest door
const float distToDoor_m = Units::cmToM(knnDoors.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
@@ -120,7 +120,13 @@ public:
// get the distance to the nearest stair
const float distToStair_m = Units::cmToM(knnStairs.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
const bool useNormal = (distToWall_m*3.5 < distToDoor_m && distToWall_m*3.5 < distToStair_m);
// use wall-avoidance?
//const bool useWallAvoidance = (distToWall_m*6.0 < distToDoor_m && distToWall_m*6.0 < distToStair_m);
//const bool useWallAvoidance = (distToDoor_m > 0.4f) && (distToStair_m > 0.4f);
const bool useWallAvoidance =
(distToOutline_m < 0.001f) && // node is an outline node [outline-nodes are adjacent to a wall]
(distToDoor_m > 0.3f) && // doors are 30cm away
(distToStair_m > 0.6f); // stairs are 60cm away;
// final probability
n1.walkImportance = 1.0f;
@@ -128,18 +134,20 @@ public:
n1.walkImportance += favorStairs.getProbability(distToStair_m) * 1.0f;
// use wall avoidance
if (useNormal) {
n1.walkImportance -= avoidWalls.getProbability(distToWall_m) * 0.4f;
if (useWallAvoidance) {
//n1.walkImportance -= avoidWalls.getProbability(distToWall_m) * 0.3f;
n1.walkImportance = 0.20f; // only addresses direct outline nodes
}
// navigation importance is calculated using other formulae
n1.navImportance = 1.0f;
if (useNormal) {
n1.navImportance -= avoidWalls.getProbability(distToWall_m) * 0.4;
if (useWallAvoidance) {
n1.navImportance -= avoidWalls.getProbability(distToOutline_m) * 0.3f;
}
//n1.navImportance += favorDoors.getProbability(distToDoor_m) * 0.5;
n1.navImportance += favorStairs.getProbability(distToStair_m) * 1.0;
n1.navImportance += favorStairs.getProbability(distToStair_m) * 1.0f;