FHWS/Indoor
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many changes and updates

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- changed the wifi-estimation api
- adjusted test-cases
- worked on grid-bulding and grid-importance
- new walking modules
- fixed some minor issues
This commit is contained in:
FrankE
2016-08-29 19:02:32 +02:00
parent a2c9e575a2
commit a203305628
23 changed files with 505 additions and 251 deletions
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2
tests/grid/GridWalk2RelPressure.cpp
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@@ -39,7 +39,7 @@ struct MyState : public WalkState, public WalkStateRelativePressure {
TEST(GridWalk2RelPressure, walkHeading) {
TEST(GridWalk2RelPressure, LIVE_walkHeading) {
Grid<MyNode> grid(20);

73
tests/grid/TestGrid.cpp
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@@ -32,7 +32,9 @@ TEST(Grid, add) {
ASSERT_THROW(grid.add(GP(10,10,10)), std::exception);
ASSERT_THROW(grid.add(GP(10,20,20)), std::exception);
ASSERT_THROW(grid.add(GP(20,10,20)), std::exception);
ASSERT_THROW(grid.add(GP(20,20,10)), std::exception);
//ASSERT_THROW(grid.add(GP(20,20,11)), std::exception); // unaligned z is OK
// aligned -> OK
ASSERT_EQ(1, grid.add(GP(20,20,20)));
// access
@@ -127,13 +129,64 @@ TEST(Grid, uid) {
Grid<GP> grid(20);
GP gp(20,40,60);
uint64_t uid = grid.getUID(gp);
GP gp1(+20, +40, +60);
GP gp2(-20, -40, -60);
const uint64_t uid1 = grid.getUID(gp1);
const uint64_t uid2 = grid.getUID(gp2);
// must be different
ASSERT_NE(uid1, uid2);
const uint64_t center = 1 << 19;
const int mask = (1 << 20) - 1; // 20-bit mask
ASSERT_EQ(3, uid >> 40 & mask); // x
ASSERT_EQ(2, uid >> 20 & mask); // y
ASSERT_EQ(1, uid >> 0 & mask); // z
ASSERT_EQ(center+60/20*5, (uid1) >> 40 & mask); // z (z UID has a higher resolution: * 5
ASSERT_EQ(center+40/20, (uid1) >> 20 & mask); // y
ASSERT_EQ(center+20/20, (uid1) >> 0 & mask); // x
ASSERT_EQ(center-60/20*5, (uid2) >> 40 & mask); // z (z UID has a higher resolution: * 5
ASSERT_EQ(center-40/20, (uid2) >> 20 & mask); // y
ASSERT_EQ(center-20/20, (uid2) >> 0 & mask); // x
}
TEST(Grid, unconnect) {
Grid<GP> grid(1);
int idx1 = grid.add(GP(0,0,0));
int idx2 = grid.add(GP(1,0,0));
int idx3 = grid.add(GP(1,1,0));
grid.connectBiDir(idx1,idx2);
grid.connectBiDir(idx2,idx3);
grid.connectBiDir(idx3,idx1);
ASSERT_EQ(2, grid.getNumNeighbors(idx1));
ASSERT_EQ(2, grid.getNumNeighbors(idx2));
ASSERT_EQ(2, grid.getNumNeighbors(idx3));
grid.disconnectUniDir(idx1, idx2);
ASSERT_EQ(1, grid.getNumNeighbors(idx1)); ASSERT_EQ(idx3, grid.getNeighbor(idx1,0).getIdx());
ASSERT_EQ(2, grid.getNumNeighbors(idx2));
grid.disconnectUniDir(idx2,idx1);
ASSERT_EQ(1, grid.getNumNeighbors(idx1)); ASSERT_EQ(idx3, grid.getNeighbor(idx1,0).getIdx());
ASSERT_EQ(1, grid.getNumNeighbors(idx2)); ASSERT_EQ(idx3, grid.getNeighbor(idx2,0).getIdx());
grid.disconnectUniDir(idx1, idx3);
ASSERT_EQ(0, grid.getNumNeighbors(idx1));
ASSERT_EQ(2, grid.getNumNeighbors(idx3));
grid.disconnectUniDir(idx3, idx1);
ASSERT_EQ(0, grid.getNumNeighbors(idx1));
ASSERT_EQ(1, grid.getNumNeighbors(idx3)); ASSERT_EQ(idx2, grid.getNeighbor(idx3,0).getIdx());
grid.disconnectUniDir(idx2, idx3);
ASSERT_EQ(0, grid.getNumNeighbors(idx2));
ASSERT_EQ(1, grid.getNumNeighbors(idx3));
grid.disconnectUniDir(idx3, idx2);
ASSERT_EQ(0, grid.getNumNeighbors(idx2));
ASSERT_EQ(0, grid.getNumNeighbors(idx3));
}
@@ -230,19 +283,19 @@ TEST(Grid, nearest) {
ASSERT_EQ(c1, grid.getNodeFor(GP(15,20,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,15,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,20,15)));
//ASSERT_EQ(c1, grid.getNodeFor(GP(20,20,15))); // Z has a higher resolution!
ASSERT_EQ(c1, grid.getNodeFor(GP(25,20,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,25,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,20,25)));
//ASSERT_EQ(c1, grid.getNodeFor(GP(20,20,25))); // Z has a higher resolution!
ASSERT_EQ(c2, grid.getNodeFor(GP(35,40,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,35,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,40,35)));
//ASSERT_EQ(c2, grid.getNodeFor(GP(40,40,35))); // Z has a higher resolution!
ASSERT_EQ(c2, grid.getNodeFor(GP(45,40,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,45,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,40,45)));
//ASSERT_EQ(c2, grid.getNodeFor(GP(40,40,45))); // Z has a higher resolution!
}

40
tests/grid/TestGridWalkV2.cpp
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@@ -24,9 +24,10 @@
#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
struct MyNode : public GridPoint, public GridNode, public GridNodeImportance, public WiFiGridNode<10> {
MyNode() {;}
MyNode(const int x, const int y, const int z) : GridPoint(x,y,z) {;}
// ENSURE UNIQUE CLASS NAME
struct MyNode1239 : public GridPoint, public GridNode, public GridNodeImportance, public WiFiGridNode<10> {
MyNode1239() {;}
MyNode1239(const int x, const int y, const int z) : GridPoint(x,y,z) {;}
static void staticDeserialize(std::istream& inp) {
WiFiGridNode::staticDeserialize(inp);
}
@@ -36,16 +37,17 @@ struct MyNode : public GridPoint, public GridNode, public GridNodeImportance, pu
}
};
struct MyState : public WalkState, public WalkStateHeading {
MyState(const GridPoint& pos, const Heading head) : WalkState(pos), WalkStateHeading(head) {;}
// ENSURE UNIQUE CLASS NAME
struct MyState23452 : public WalkState, public WalkStateHeading {
MyState23452(const GridPoint& pos, const Heading head) : WalkState(pos), WalkStateHeading(head) {;}
};
TEST(GridWalk2, error) {
TEST(GridWalk2, LIVE_error) {
Grid<MyNode> grid(20);
GridFactory<MyNode> gf(grid);
Grid<MyNode1239> grid(20);
GridFactory<MyNode1239> gf(grid);
Floorplan::Floor floor;
Floorplan::FloorOutlinePolygon poly;
@@ -61,13 +63,13 @@ TEST(GridWalk2, error) {
float turnAngle = 0; // keep the angle as-is!
} ctrl;
GridWalker<MyNode, MyState> walker;
WalkModuleHeadingControl<MyNode, MyState, Control> modHead(&ctrl);
GridWalker<MyNode1239, MyState23452> walker;
WalkModuleHeadingControl<MyNode1239, MyState23452, Control> modHead(&ctrl);
walker.addModule(&modHead);
MyState state(GridPoint(800,800,0), Heading(3.1415/2));
MyState23452 state(GridPoint(800,800,0), Heading(3.1415/2));
K::Gnuplot gp;
gp << "set xrange[0:5000]\n";
@@ -98,9 +100,9 @@ TEST(GridWalk2, error) {
}
TEST(GgridWalk2, walkHeading) {
TEST(GgridWalk2, LIVE_walkHeading) {
Grid<MyNode> grid(20);
Grid<MyNode1239> grid(20);
std::ifstream inp("/tmp/grid.dat");
grid.read(inp);
@@ -118,9 +120,9 @@ TEST(GgridWalk2, walkHeading) {
// GridFactory<MyNode> fac(grid);
// fac.addFloor(&floor);
GridWalker<MyNode, MyState> walker;
WalkModuleHeading<MyNode, MyState> wmHead;
WalkModuleFollowDestination<MyNode, MyState> wmDest(grid, grid.getNodeFor(GridPoint(7200,4800,400+340+340)));
GridWalker<MyNode1239, MyState23452> walker;
WalkModuleHeading<MyNode1239, MyState23452> wmHead;
WalkModuleFollowDestination<MyNode1239, MyState23452> wmDest(grid, grid.getNodeFor(GridPoint(7200,4800,400+340+340)));
//walker.addModule(&wmHead);
walker.addModule(&wmDest);
@@ -132,7 +134,7 @@ TEST(GgridWalk2, walkHeading) {
K::GnuplotSplotElementPoints nodes; nodes.setPointSize(0.1); nodes.setColorHex("#888888"); splot.add(&nodes);
K::GnuplotSplotElementPoints states; states.setPointSize(0.5); states.setColorHex("#0000ff"); splot.add(&states);
for (const MyNode& n : grid) {
for (const MyNode1239& n : grid) {
static int cnt = 0;
if (++cnt % 5 == 0) {
nodes.add(K::GnuplotPoint3(n.x_cm, n.y_cm, n.z_cm));
@@ -143,8 +145,8 @@ TEST(GgridWalk2, walkHeading) {
for (int j = 0; j < 500; ++j) {
states.clear();
for (int i = 0; i < points.size(); ++i) {
MyState start(points[i], Heading(0.0));
MyState next = walker.getDestination(grid, start, 2.0);
MyState23452 start(points[i], Heading(0.0));
MyState23452 next = walker.getDestination(grid, start, 2.0);
points[i] = next.startPos;
states.add(K::GnuplotPoint3(points[i].x_cm, points[i].y_cm, points[i].z_cm));
}