FHWS/Indoor
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started testing a new grid-builder

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minor fixes
worked on walkers
This commit is contained in:
k-a-z-u
2017-12-20 17:12:30 +01:00
parent d48b0b8fd4
commit c346b7f222
7 changed files with 709 additions and 40 deletions
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18
grid/Grid.h
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@@ -177,10 +177,11 @@ public:
}
/** get the center-node the given Point belongs to */
const T& getNodeFor(const GridPoint& p) {
const UID uid = getUID(p);
Assert::isTrue(hashes.find(uid) != hashes.end(), "element not found!");
return nodes[hashes[uid]];
const T& getNodeFor(const GridPoint& p) const {
//const UID uid = getUID(p);
auto it = hashes.find(getUID(p));
Assert::isTrue(it != hashes.end(), "element not found!");
return nodes[it->second];
}
/** get the center-node the given Point belongs to. or nullptr if not present */
@@ -249,11 +250,11 @@ public:
inline int idxX(const int x_cm) const {return std::round(x_cm / (float)gridSize_cm);}
inline int idxY(const int y_cm) const {return std::round(y_cm / (float)gridSize_cm);}
inline int idxZ(const int z_cm) const {return std::round(z_cm / (float)gridSize_cm);} // * 5?? // z is usually much lower and not always aligned -> allow more room for hashes
inline int idxZ(const int z_cm) const {return std::round(z_cm / 20.0f);} // * 5?? // z is usually much lower and not always aligned -> allow more room for hashes
inline int snapX(const int x_cm) const {return std::round(x_cm / (float)gridSize_cm) * gridSize_cm;}
inline int snapY(const int y_cm) const {return std::round(y_cm / (float)gridSize_cm) * gridSize_cm;}
inline int snapZ(const int z_cm) const {return std::round(z_cm / (float)gridSize_cm) * gridSize_cm;} // * 5?? // z is usually much lower and not always aligned -> allow more room for hashes
inline int snapZ(const int z_cm) const {return std::round(z_cm / 20.0f) * 20;} // * 5?? // z is usually much lower and not always aligned -> allow more room for hashes
/** array access */
@@ -295,6 +296,11 @@ public:
}
}
/** convert to a GridPoint coordinate (in cm) */
GridPoint toGridPoint(const Point3 pos_m) const {
return GridPoint( snapX(pos_m.x*100), snapY(pos_m.y*100), snapZ(pos_m.z*100) );
}
/** remove the given array-index by moving all follwing elements down by one */
template <typename X> void arrayRemove(X* arr, const int idxToRemove, const int arrayLen) {
for (int i = idxToRemove+1; i < arrayLen; ++i) {