FHWS/Indoor
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worked on grid creation

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fixed some issues with stairs
fixed/added LINT
This commit is contained in:
k-a-z-u
2017-07-27 18:40:56 +02:00
parent 3a92199777
commit c21925e86f
5 changed files with 114 additions and 38 deletions
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17
grid/factory/v2/GridFactory.h
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@@ -89,7 +89,7 @@ public:
if (listener) {listener->onGridBuildUpdateMajor("adding stairs");}
if (_buildStairs) {
for (Floorplan::Floor* f : map->floors) {
buildStairs(f, listener);
buildStairs(map, f, listener);
if (listener) {listener->onGridBuildUpdateMajor(total, ++cur);}
}
}
@@ -215,7 +215,7 @@ public:
GridNodeBBox bbox(GridPoint(x_cm, y_cm, z_cm), helper.gridSize());
// slightly grow the bbox to ensure even obstacles that are directly aligned to the bbox are hit
bbox.grow(0.42345);
bbox.grow(0.1337);
if (intersects(bbox, floor)) {continue;}
// add to the grid [once]
@@ -246,7 +246,7 @@ public:
}
void buildStairs(const Floorplan::Floor* floor, GridFactoryListener* listener = nullptr) {
void buildStairs(const Floorplan::IndoorMap* map, const Floorplan::Floor* floor, GridFactoryListener* listener = nullptr) {
const int total = floor->stairs.size();
int cur = 0;
@@ -254,7 +254,7 @@ public:
// process each stair within the floor
for (const Floorplan::Stair* stair : floor->stairs) {
if (listener) {listener->onGridBuildUpdateMinor("adding " + floor->name + " stair " + std::to_string(cur+1));}
stairs.build(floor, stair);
stairs.build(map, floor, stair);
if (listener) {listener->onGridBuildUpdateMinor(total, ++cur);}
}
@@ -419,6 +419,9 @@ public:
void removeIsolatedNodes() {
//std::cout << "todo: remove" << std::endl;
//return;
// try to start at the first stair
for (T& n : grid) {
if (n.getType() == GridNode::TYPE_STAIR) {removeIsolatedNodes(n); return;}
@@ -439,6 +442,9 @@ public:
getConnected(n1, set);
Log::tock();
//const int numToRemove = grid.getNumNodes() - set.size();
//int numRemoved = 0;
// remove all other
Log::add(name, "removing all nodes NOT connected to " + (std::string) n1, false);
Log::tick();
@@ -455,6 +461,9 @@ public:
// proceed ;)
grid.remove(n2);
//++numRemoved;
//std::cout << numRemoved << ":" << numToRemove << std::endl;
}
}
Log::tock();