FHWS/Indoor
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added stuff

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toni
2016-04-13 11:10:09 +02:00
parent efc7fa9c12
commit c0ab98005a
3 changed files with 16 additions and 3 deletions
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4
grid/walk/GridWalkPathControl.h
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@@ -64,7 +64,7 @@ public:
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad) {
// proportional change of the heading
static Distribution::Normal<float> dHead(1, 0.01);
static Distribution::Normal<float> dHead(1, 0.01);
// proportional change of the to-be-walked distance
static Distribution::Normal<float> dWalk(1, 0.10);
@@ -97,7 +97,7 @@ private:
const float diff = possibleHead.getDiffHalfRAD(head);
// // compare this heading with the requested one
const double angleProb = Distribution::Normal<float>::getProbability(0, Angle::degToRad(25), diff);
const double angleProb = Distribution::Normal<float>::getProbability(0, Angle::degToRad(25), diff);
// const double angleProb = (diff <= Angle::degToRad(15)) ? 1 : 0.1; // favor best 3 angles equally
// nodes own importance