added new sanity-check assertions

fixed issue with angles [bad interface] - adjusted other parts accordingly - added corresponding test-cases started working on absolute heading
2017-03-31 11:47:29 +02:00
parent 2fdaa795b2
commit 8930be1e2c
10 changed files with 168 additions and 19 deletions
--- a/grid/walk/v2/modules/WalkModuleAbsoluteHeadingControl.h
+++ b/grid/walk/v2/modules/WalkModuleAbsoluteHeadingControl.h
@@ -0,0 +1,85 @@
+#ifndef WALKMODULEABSOLUTEHEADINGCONTROL_H
+#define WALKMODULEABSOLUTEHEADINGCONTROL_H
+
+/**
+ * compare the state's absolute heading against a given compass [control]
+ */
+
+#include "WalkModule.h"
+#include "WalkStateHeading.h"
+
+#include "../../../../geo/Heading.h"
+#include "../../../../math/Distributions.h"
+
+
+/** keep the state's heading */
+template <typename Node, typename WalkState, typename Control> class WalkModuleAbsoluteHeadingControl : public WalkModule<Node, WalkState> {
+
+	const float sigma_rad;
+	const Control* ctrl;
+
+public:
+
+	/** ctor. 180 should be OK! */
+	WalkModuleAbsoluteHeadingControl(const Control* ctrl, const float sensorNoiseDegreesSigma) :
+		sigma_rad(Angle::degToRad(sensorNoiseDegreesSigma)),
+		ctrl(ctrl) {
+
+		// ensure the template WalkState inherits from 'WalkStateHeading'!
+		StaticAssert::AinheritsB<WalkState, WalkStateHeading>();
+
+	}
+
+
+	virtual void updateBefore(WalkState& state, const Node& startNode) override {
+		(void) state;
+		(void) startNode;
+	}
+
+	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
+		(void) state;
+		(void) startNode;
+		(void) endNode;
+	}
+
+
+	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
+		(void) state;
+		(void) curNode;
+		(void) nextNode;
+	}
+
+	double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
+
+		(void) startNode;
+
+		// NOTE: ctrl->turnAngle is cumulative SINCE the last transition!
+		// reset this one after every transition!
+		Assert::isBetween(ctrl->compassAzimuth_rad, 0.0f, (float)(2*M_PI), "the given absolute heading is out of bounds");
+
+		// ignore for stairs?
+		//if (potentialNode.getType() == GridNode::TYPE_STAIR)	{return 1.0;}
+
+		// for elevator edges [same (x,y) but different z] just return 1
+		if (potentialNode.getType() == GridNode::TYPE_ELEVATOR)	{return 1.0;}
+		if (curNode.getType() == GridNode::TYPE_ELEVATOR)		{return 1.0;}
+		//if (curNode.x_cm == potentialNode.x_cm && curNode.y_cm == potentialNode.y_cm && curNode.z_cm != potentialNode.z_cm) {return 1.0;}
+
+		// get the heading between curNode and potentialNode
+		const Heading head(curNode.x_cm, curNode.y_cm, potentialNode.x_cm, potentialNode.y_cm);
+
+		// compare the heading against the state's heading - the last error
+		const Heading stateHead = state.heading.direction;
+
+		// get the difference
+		const float angularDiff = head.getDiffHalfRAD(stateHead);
+
+		if (angularDiff > Angle::degToRad(180))	{return 0.05;}
+		if (angularDiff > Angle::degToRad(90))	{return 0.25;}
+												{return 0.70;}
+
+	}
+
+};
+
+#endif // WALKMODULEABSOLUTEHEADINGCONTROL_H