FHWS/Indoor
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added several grid-walks

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added new helper methods/classes (e.g. for heading)
new test cases
optimize the dijkstra
cleanups/refactoring
added timed-benchmarks to the log
many more...
This commit is contained in:
FrankE
2016-01-24 18:59:06 +01:00
parent cdf97322f8
commit 9947dced15
30 changed files with 1406 additions and 94 deletions
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30
tests/grid/TestAll.cpp
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@@ -6,6 +6,7 @@
#include "../../grid/factory/GridFactory.h"
#include "../../floorplan/FloorplanFactorySVG.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "../../grid/walk/GridWalkWeighted.h"
#include "Plot.h"
@@ -29,38 +30,55 @@ TEST(TestAll, Nav) {
} tmp(g);
GridFactory<20, GP> gf(g);
FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6);
// load floorplan
FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6);
Floor f1 = fpf.getFloor("1");
Floor f2 = fpf.getFloor("2");
Stairs s1_2 = fpf.getStairs("1_2");
// build the grid
gf.addFloor(f1, 20);
gf.addFloor(f2, 340);
gf.addStairs(s1_2, 20, 340);
gf.removeIsolated();
// calculate node importance based on the floorplan (walls, ...)
GridImportance gi;
gi.addImportance(g, 20);
gi.addImportance(g, 340);
//gi.addImportance(g, 20);
//gi.addImportance(g, 340);
// calculate dijkstra using aforementioned importance
Dijkstra<GP> d;
const GP& start = g.getNodeFor(GridPoint(500,200,20));
//const GP& end = g.getNodeFor(GridPoint(1400,1400,20));
const GP& end = g.getNodeFor(GridPoint(1200,200,340));
//const GP& end = g.getNodeFor(GridPoint(1300,1300,20));
d.build(start, end, tmp);
// add the path's importance to the grid
gi.addImportance(g, d.getNode(start), d.getNode(end));
// plot path
K::GnuplotSplotElementLines path; path.setColorHex("#0000ff"); path.setLineWidth(2);
DijkstraNode<GP>* dn = d.getNode(end);
while (dn->previous != nullptr) {
path.add(K::GnuplotPoint3(dn->element->x_cm, dn->element->y_cm, dn->element->z_cm));
path.add(K::GnuplotPoint3(dn->element->x_cm, dn->element->y_cm, dn->element->z_cm+50));
dn = dn->previous;
}
// // walk
// GridWalkWeighted<GP> walk;
// Log::add("test", "walking");
// for (int i = 0; i < 5000; ++i) {
// walk.getDestination(g, &start, 1.0, Headings::UP);
// }
// Log::add("test", "done");
Plot p;
p.build(g);
//p.showGrid(g);
p.addFloor(f1, 20);
p.addFloor(f2, 340);
p.splot.add(&path);
p.fire();