FHWS/Indoor
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fixed some grid-factory issues

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added some new attributes
minor changes
This commit is contained in:
FrankE
2017-06-01 15:58:58 +02:00
parent 34271b5cb7
commit 9ea7da557b
6 changed files with 47 additions and 13 deletions
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7
floorplan/v2/Floorplan.h
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@@ -253,7 +253,7 @@ namespace Floorplan {
int id; //TODO: this value can be changed and isn't set incremental within the indoormap
Point3 pos; // TODO: splint into 2D position + float for "heightAboveGround" [waypoints' height is relative to the floor's height!
GroundTruthPoint() : id(), pos() {;}
GroundTruthPoint(const int& id, const Point3& pos) : id(id), pos(pos) {;}
GroundTruthPoint(const int id, const Point3& pos) : id(id), pos(pos) {;}
const Point3 getPosition(const Floor& f) const {return pos + Point3(0,0,f.atHeight);}
bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
};
@@ -319,8 +319,9 @@ namespace Floorplan {
ObstacleType type;
Point2 from;
Point2 to;
FloorObstacleLine(const ObstacleType type, const Material material, const Point2 from, const Point2 to) : FloorObstacle(material), type(type), from(from), to(to) {;}
FloorObstacleLine(const ObstacleType type, const Material material, const float x1, const float y1, const float x2, const float y2) : FloorObstacle(material), type(type), from(x1,y1), to(x2,y2) {;}
float thickness_m;
FloorObstacleLine(const ObstacleType type, const Material material, const Point2 from, const Point2 to, const float thickness_m = 0.2f) : FloorObstacle(material), type(type), from(from), to(to), thickness_m(thickness_m) {;}
FloorObstacleLine(const ObstacleType type, const Material material, const float x1, const float y1, const float x2, const float y2, const float thickness_m = 0.2f) : FloorObstacle(material), type(type), from(x1,y1), to(x2,y2), thickness_m(thickness_m) {;}
};
/** circle obstacle */

3
floorplan/v2/FloorplanReader.h
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@@ -402,7 +402,8 @@ namespace Floorplan {
parseObstacleType(el->Attribute("type")),
parseMaterial(el->Attribute("material")),
el->FloatAttribute("x1"), el->FloatAttribute("y1"),
el->FloatAttribute("x2"), el->FloatAttribute("y2")
el->FloatAttribute("x2"), el->FloatAttribute("y2"),
(el->FloatAttribute("thickness") > 0) ? (el->FloatAttribute("thickness")) : (0.15) // default wall thickness in m
);
}

1
floorplan/v2/FloorplanWriter.h
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@@ -330,6 +330,7 @@ namespace Floorplan {
obstacle->SetAttribute("y1", line->from.y);
obstacle->SetAttribute("x2", line->to.x);
obstacle->SetAttribute("y2", line->to.y);
obstacle->SetAttribute("thickness", line->thickness_m);
obstacles->InsertEndChild(obstacle);
}

3
geo/Line2.h
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@@ -23,6 +23,9 @@ public:
/** value ctor */
Line2(const float x1, const float y1, const float x2, const float y2) : p1(x1,y1), p2(x2,y2) {;}
Line2 operator * (const float v) const {return Line2(p1*v, p2*v);}
// bool getSegmentIntersection(const Line& other) const {
// static K::Point p;
// return K::Line::getSegmentIntersection(other, p);

9
grid/factory/v2/Elevators.h
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@@ -79,8 +79,13 @@ public:
// connect each of the new nodes with the node below it. NOW ALSO EXAMINE THE floor above (z2_cm + gs_cm)
for (int z_cm = z1_cm; z_cm <= z2_cm + gs_cm; z_cm += gs_cm) {
const GridPoint gpBelow(nodePos.x_cm, nodePos.y_cm, z_cm-gs_cm);
const GridPoint gp(nodePos.x_cm, nodePos.y_cm, z_cm);
GridPoint gpBelow(nodePos.x_cm, nodePos.y_cm, z_cm-gs_cm);
GridPoint gp(nodePos.x_cm, nodePos.y_cm, z_cm);
// above the ending floor? -> snap to ending floor
// note: this one is needed if the floor-heights are not dividable by the grid-size
if (gp.z_cm > floor->getEndingZ()*100) {gp.z_cm = floor->getEndingZ()*100;}
Assert::isTrue(grid.hasNodeFor(gpBelow), "missing node");
Assert::isTrue(grid.hasNodeFor(gp), "missing node");
T& n1 = (T&) grid.getNodeFor(gpBelow);

29
grid/factory/v2/GridFactory.h
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@@ -487,7 +487,23 @@ private:
private:
/** as line-obstacles have a thickness, we need 4 lines for the intersection test! */
static std::vector<Line2> getThickLines(const Floorplan::FloorObstacleLine* line) {
//const Line2 base(line->from*100, line->to*100);
const float thickness_m = line->thickness_m;
const Point2 dir = (line->to - line->from); // obstacle's direction
const Point2 perp = dir.perpendicular().normalized(); // perpendicular direction (90 degree)
const Point2 p1 = line->from + perp * thickness_m/2; // start-up
const Point2 p2 = line->from - perp * thickness_m/2; // start-down
const Point2 p3 = line->to + perp * thickness_m/2; // end-up
const Point2 p4 = line->to - perp * thickness_m/2; // end-down
return {
Line2(p1, p2),
Line2(p3, p4),
Line2(p2, p4),
Line2(p1, p3),
};
}
/** does the bbox intersect with any of the floor's walls? */
static inline bool intersects(const GridNodeBBox& bbox, const Floorplan::Floor* floor) {
@@ -499,8 +515,15 @@ private:
// depends on the type of obstacle
if (dynamic_cast<Floorplan::FloorObstacleLine*>(fo)) {
const Floorplan::FloorObstacleLine* line = (Floorplan::FloorObstacleLine*) fo;
const Line2 l2(line->from*100, line->to*100);
if (bbox.intersects(l2)) {return true;}
// old method (does not support thickness)
//const Line2 l2(line->from*100, line->to*100);
//if (bbox.intersects(l2)) {return true;}
const std::vector<Line2> lines = getThickLines(line);
for (const Line2& l : lines) {
if (bbox.intersects(l*100)) {return true;}
}
} else if (dynamic_cast<Floorplan::FloorObstacleCircle*>(fo)) {
const Floorplan::FloorObstacleCircle* circle = (Floorplan::FloorObstacleCircle*) fo;