FHWS/Indoor
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added stuff for bluetooth

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worked on resampling methods
This commit is contained in:
mail@toni-fetzer.de
2019-06-05 18:09:15 +02:00
parent cb61e0fe68
commit 8d37e94647
12 changed files with 472 additions and 320 deletions
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33
tests/navMesh/TestNavMeshDijkstra.cpp
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@@ -79,16 +79,15 @@ TEST(NavMeshDijkstra, build) {
}
TEST(NavMeshDijkstra, build2) {
TEST(NavMeshDijkstra, museum) {
NavMeshSettings set;
NavMesh<MyNMT1231902345> nm;
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/map_stair1.xml");
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/SHL41_nm.xml");
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/museum31.xml");
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/museum31.xml");
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/home/toni/Documents/programme/localization/maps/museum/map48_ap_path3_smallfixes.xml");
NavMeshFactory<MyNMT1231902345> fac(&nm, set);
fac.build(map);
@@ -97,11 +96,32 @@ TEST(NavMeshDijkstra, build2) {
dbg.addMesh(nm);
dbg.draw();
NM::NavMeshDijkstra::stamp(nm, Point3(4,4,0));
NM::NavMeshRandom<MyNMT1231902345> rnd = nm.getRandom();
const Point3 dst = Point3(24,24,1.7f);
NM::NavMeshDijkstra::stamp(nm, dst);
dbg.addDijkstra(nm);
dbg.draw();
for (int i = 0; i < 1000; ++i) {
NM::NavMeshLocation<MyNMT1231902345> start = rnd.draw();
start.tria->getDistanceToDestination<MyNMT1231902345>(start.pos); // just a compiler-test
NM::NavMeshDijkstra::stamp(nm, dst);
//NM::NavMeshLocation<MyNMT1231902345> start = start;//nm.getLocation(Point3(0,-6,0));
std::vector<NM::NavMeshLocation<MyNMT1231902345>> path = start.tria->getPathToDestination<MyNMT1231902345>(start.pos);
std::cout << path.size() << std::endl;
dbg.addDijkstra(nm);
dbg.addDijkstra(path);
dbg.draw();
sleep(1);
}
int xxx = 0; (void) xxx;
}
@@ -144,7 +164,8 @@ TEST(NavMeshDijkstra, path) {
// remove2.poly.points.push_back(Point2(-11,+2));
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/mnt/vm/paper/diss/data/maps/map_stair1.xml");
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/map_stair1.xml");
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/paper/diss/data/maps/map_stair1.xml");
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/home/toni/Documents/programme/localization/maps/test/map_stair1.xml");
NavMeshFactory<MyNMT1231902345> fac(&nm, set);