many changes and updates

- changed the wifi-estimation api
- adjusted test-cases
- worked on grid-bulding and grid-importance
- new walking modules
- fixed some minor issues

grid/factory/v2/Stairs.h

@@ -8,7 +8,7 @@
 #include "Helper.h"
 #include "../../../floorplan/v2/Floorplan.h"
 
-
+#include <fstream>
 
 
 
@@ -23,6 +23,10 @@ private:
 	Helper<T> helper;
 
 
+	std::ofstream outStairs;
+	std::ofstream outDelete;
+
+
 private:
 
 //	struct Entry {
@@ -68,10 +72,14 @@ public:
 
 	/** ctor */
 	Stairs(Grid<T>& grid) : grid(grid), helper(grid) {
-		;
+		outStairs.open("/tmp/quads.dat");
+		outDelete.open("/tmp/delete.dat");
 	}
 
-
+	~Stairs() {
+		outStairs.close();
+		outDelete.close();
+	}
 
 
 
@@ -87,6 +95,7 @@ public:
 		const std::vector<Floorplan::StairPart> parts = stair->getParts();
 		const std::vector<Floorplan::Quad3> quads = Floorplan::getQuads(parts, floor);
 
+
 		for (int i = 0; i < (int)parts.size(); ++i) {
 
 			//const Floorplan::StairPart& part = parts[i];
@@ -97,6 +106,13 @@ public:
 			const Point3 p3 = quad.p3;
 			const Point3 p4 = quad.p4;
 
+			outStairs << p1.x << " " << p1.y << " " << p1.z << "\n";
+			outStairs << p2.x << " " << p2.y << " " << p2.z << "\n";
+			outStairs << p3.x << " " << p3.y << " " << p3.z << "\n";
+			outStairs << p4.x << " " << p4.y << " " << p4.z << "\n";
+			outStairs << p1.x << " " << p1.y << " " << p1.z << "\n\n\n";
+
+
 			HelperPoly poly; poly.add(p1.xy()); poly.add(p2.xy()); poly.add(p3.xy()); poly.add(p4.xy());
 
 			const int x1 = helper.align(poly.bbox_cm.getMin().x);		// ALIGNF?
@@ -111,6 +127,9 @@ public:
 				for (int y = y1; y <= y2; y+=gs_cm) {
 					if (!poly.contains( Point2(x,y) )) {continue;}
 					points.push_back(XYZ(x,y,-1));
+					if (y < 500) {
+						int i = 0; (void) i;
+					}
 				}
 			}
 
@@ -185,6 +204,7 @@ public:
 		// keep a list of all vertices below stairwells and remove them hereafter
 		std::vector<T*> toDelete;
 
+
 		// add all stair nodes or replace them with already existing ones
 		for (Intermediate& iNode : stairNodes) {
 
@@ -192,7 +212,9 @@ public:
 			const float minDiff = gs_cm * 0.49;
 
 			// nearer than maxDiff? -> delete as this one is unreachable below the stair
-			const float maxDiff = 150;
+			// to prevent errors (e.g. a platform at 1.0 meter) we use 0.98 meter as deleting threshold
+			// otherwise we get problems in some places
+			const float maxDiff = 98;
 
 			// distance between the stair node and the floor above / below
 			const float zDiff1 = std::abs(iNode.node.z_cm - 100*floor->getStartingZ());
@@ -223,11 +245,19 @@ public:
 			// remove nodes directly below the stair
 			} else if (zDiff1 < maxDiff) {
 				T* n2 = (T*) grid.getNodePtrFor(GridPoint(iNode.node.x_cm, iNode.node.y_cm, 100*floor->getStartingZ()));
+				outDelete << n2->x_cm << " " << n2->y_cm << " " << n2->z_cm << "\n";
+				if (n2->y_cm < 500) {
+					int i = 0; (void) i;
+				}
 				if (n2) {toDelete.push_back(n2);}
 
 			// remove nodes directly above the stair
 			} else if (zDiff2 < maxDiff) {
 				T* n2 = (T*) grid.getNodePtrFor(GridPoint(iNode.node.x_cm, iNode.node.y_cm, 100*floor->getEndingZ()));
+				outDelete << n2->x_cm << " " << n2->y_cm << " " << n2->z_cm << "\n";
+				if (n2->y_cm < 500) {
+					int i = 0; (void) i;
+				}
 				if (n2) {toDelete.push_back(n2);}
 			}