From a7cec2e9464c6ee74ed9a830d4fa8b15d376c747 Mon Sep 17 00:00:00 2001
From: FrankE <support@frank-ebner.de>
Date: Tue, 13 Sep 2016 15:41:06 +0200
Subject: [PATCH] fixed compile issue

---
 grid/walk/v2/modules/WalkModuleHeading.h      | 35 ------------------
 .../v2/modules/WalkModuleHeadingControl.h     |  5 ++-
 grid/walk/v2/modules/WalkStateHeading.h       | 37 +++++++++++++++++++
 tests/grid/TestStairs.cpp                     |  4 +-
 4 files changed, 43 insertions(+), 38 deletions(-)

diff --git a/grid/walk/v2/modules/WalkModuleHeading.h b/grid/walk/v2/modules/WalkModuleHeading.h
index 827200c..02e6453 100644
--- a/grid/walk/v2/modules/WalkModuleHeading.h
+++ b/grid/walk/v2/modules/WalkModuleHeading.h
@@ -12,41 +12,6 @@
 
 #include "../../../../geo/Heading.h"
 
-/**
- * base-class e.g. needed for GridWalkHeading and GridWalkHeadingControl to work
- */
-struct WalkStateHeading {
-
-	/** used for better naming: heading.error instead of headingError */
-	struct _Heading {
-
-		/**
-		 * the direction [0:2pi] the walk should move to
-		 * e.g. indiciated by:
-		 *		compass
-		 *		integration over gyroscope values
-		 */
-		Heading direction;
-
-		/**
-		 * (cumulative) error between walked edges and requested direction (above).
-		 * is used to ensure that (even though the grid contains only 45° edges) we
-		 * approximately walk into the requested direction.
-		 */
-		float error = 0;
-
-		/** ctor */
-		_Heading(const Heading direction, const float error) : direction(direction), error(error) {;}
-
-	} heading;
-
-
-
-
-	/** ctor */
-	explicit WalkStateHeading(const Heading& direction, const float error) : heading(direction, error) {;}
-
-};
 
 
 
diff --git a/grid/walk/v2/modules/WalkModuleHeadingControl.h b/grid/walk/v2/modules/WalkModuleHeadingControl.h
index 319d1b1..a5b804c 100644
--- a/grid/walk/v2/modules/WalkModuleHeadingControl.h
+++ b/grid/walk/v2/modules/WalkModuleHeadingControl.h
@@ -30,7 +30,10 @@ public:
 		dist(Distribution::VonMises<double>(0.0f, 2.0).getLUT()),
 		distNoise(0, Angle::degToRad(sensorNoiseDegreesSigma)),
 		ctrl(ctrl) {
-		;
+
+		// ensure the template WalkState inherits from 'WalkStateHeading'!
+		StaticAssert::AinheritsB<WalkState, WalkStateHeading>();
+
 	}
 
 
diff --git a/grid/walk/v2/modules/WalkStateHeading.h b/grid/walk/v2/modules/WalkStateHeading.h
index 12519bb..89a0e2d 100644
--- a/grid/walk/v2/modules/WalkStateHeading.h
+++ b/grid/walk/v2/modules/WalkStateHeading.h
@@ -1,6 +1,43 @@
 #ifndef WALKSTATEHEADING_H
 #define WALKSTATEHEADING_H
 
+#include "../../../../geo/Heading.h"
+
+/**
+ * base-class e.g. needed for GridWalkHeading and GridWalkHeadingControl to work
+ */
+struct WalkStateHeading {
+
+	/** used for better naming: heading.error instead of headingError */
+	struct _Heading {
+
+		/**
+		 * the direction [0:2pi] the walk should move to
+		 * e.g. indiciated by:
+		 *		compass
+		 *		integration over gyroscope values
+		 */
+		Heading direction;
+
+		/**
+		 * (cumulative) error between walked edges and requested direction (above).
+		 * is used to ensure that (even though the grid contains only 45° edges) we
+		 * approximately walk into the requested direction.
+		 */
+		float error = 0;
+
+		/** ctor */
+		_Heading(const Heading direction, const float error) : direction(direction), error(error) {;}
+
+	} heading;
+
+
+
+
+	/** ctor */
+	explicit WalkStateHeading(const Heading& direction, const float error) : heading(direction, error) {;}
+
+};
 
 
 
diff --git a/tests/grid/TestStairs.cpp b/tests/grid/TestStairs.cpp
index a727007..b65282c 100644
--- a/tests/grid/TestStairs.cpp
+++ b/tests/grid/TestStairs.cpp
@@ -65,13 +65,13 @@ TEST(Stairs, live_testWalk) {
 	WalkModuleFavorZ<MyNode345092134, MyState102395234> modFavorZ;
 	WalkModuleSpread<MyNode345092134, MyState102395234> modSpread;
 	WalkModuleNodeImportance<MyNode345092134, MyState102395234> modImp;
-	WalkModulePreventVisited<MyNode345092134, MyState102395234> modSkipDup;
+	//WalkModulePreventVisited<MyNode345092134, MyState102395234> modSkipDup;
 	//WalkModuleHeading<MyNode345092134, MyState102395234> modHead;
 
 	gw.addModule(&modImp);
 	gw.addModule(&modFavorZ);
 	gw.addModule(&modSpread);
-	gw.addModule(&modSkipDup);
+	//gw.addModule(&modSkipDup);
 	//gw.addModule(&modHead);
 
 	for (int run = 0; run < 5000; ++run) {