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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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));
}