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worked on grid-walking

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worked on grid-generation
added helper library for nav-meshes
started working on nav meshes
This commit is contained in:
FrankE
2018-01-08 20:55:50 +01:00
parent c346b7f222
commit ca6fed5371
33 changed files with 12991 additions and 1913 deletions
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168
tests/sensors/pressure/TestBarometer.cpp
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@@ -1,11 +1,11 @@
#ifdef WITH_TESTS
#ifdef TODO_______WITH_TESTS
#include "../../Tests.h"
#include "../../../sensors/pressure/RelativePressure.h"
#include "../../../sensors/pressure/PressureTendence.h"
#include "../../../sensors/pressure/ActivityButterPressure.h"
#include "../../../sensors/pressure/ActivityButterPressurePercent.h"
#include "../../../sensors/activity/ActivityButterPressure.h"
#include "../../../sensors/activity/ActivityButterPressurePercent.h"
#include <random>
@@ -79,7 +79,7 @@ TEST(Barometer, LIVE_tendence) {
}
sleep(1);
sleep(1);
}
@@ -115,7 +115,7 @@ TEST(Barometer, LIVE_tendence2) {
}
sleep(1);
sleep(1);
// tendence must be clear and smaller than the sigma
@@ -124,119 +124,119 @@ TEST(Barometer, LIVE_tendence2) {
}
TEST(Barometer, Activity) {
ActivityButterPressure act;
ActivityButterPressure act;
//read file
std::string line;
//read file
std::string line;
std::string filename = getDataFile("barometer/baro1.dat");
std::ifstream infile(filename);
std::ifstream infile(filename);
std::vector<ActivityButterPressure::History> actHist;
std::vector<ActivityButterPressure::History> rawHist;
std::vector<ActivityButterPressure::History> actHist;
std::vector<ActivityButterPressure::History> rawHist;
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (iss >> ts >> value) {
ActivityButterPressure::Activity currentAct = act.add(Timestamp::fromMS(ts), BarometerData(value));
rawHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(value)));
actHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(currentAct)));
}
}
while (iss >> ts >> value) {
ActivityButterPressure::Activity currentAct = act.add(Timestamp::fromMS(ts), BarometerData(value));
rawHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(value)));
actHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(currentAct)));
}
}
K::Gnuplot gp;
K::Gnuplot gpRaw;
K::GnuplotPlot plot;
K::GnuplotPlot plotRaw;
K::GnuplotPlotElementLines rawLines;
K::GnuplotPlotElementLines resultLines;
K::Gnuplot gp;
K::Gnuplot gpRaw;
K::GnuplotPlot plot;
K::GnuplotPlot plotRaw;
K::GnuplotPlotElementLines rawLines;
K::GnuplotPlotElementLines resultLines;
for(int i=0; i < actHist.size()-1; ++i){
for(int i=0; i < actHist.size()-1; ++i){
//raw
K::GnuplotPoint2 raw_p1(rawHist[i].ts.sec(), rawHist[i].data.hPa);
K::GnuplotPoint2 raw_p2(rawHist[i+1].ts.sec(), rawHist[i+1].data.hPa);
//raw
K::GnuplotPoint2 raw_p1(rawHist[i].ts.sec(), rawHist[i].data.hPa);
K::GnuplotPoint2 raw_p2(rawHist[i+1].ts.sec(), rawHist[i+1].data.hPa);
rawLines.addSegment(raw_p1, raw_p2);
rawLines.addSegment(raw_p1, raw_p2);
//results
K::GnuplotPoint2 input_p1(actHist[i].ts.sec(), actHist[i].data.hPa);
K::GnuplotPoint2 input_p2(actHist[i+1].ts.sec(), actHist[i+1].data.hPa);
//results
K::GnuplotPoint2 input_p1(actHist[i].ts.sec(), actHist[i].data.hPa);
K::GnuplotPoint2 input_p2(actHist[i+1].ts.sec(), actHist[i+1].data.hPa);
resultLines.addSegment(input_p1, input_p2);
}
resultLines.addSegment(input_p1, input_p2);
}
plotRaw.add(&rawLines);
plot.add(&resultLines);
plotRaw.add(&rawLines);
plot.add(&resultLines);
gp.draw(plot);
gp.flush();
gp.draw(plot);
gp.flush();
gpRaw.draw(plotRaw);
gpRaw.flush();
gpRaw.draw(plotRaw);
gpRaw.flush();
sleep(5);
sleep(5);
}
TEST(Barometer, ActivityPercent) {
ActivityButterPressurePercent act;
ActivityButterPressurePercent act;
//read file
std::string line;
std::string filename = getDataFile("barometer/baro1.dat");
std::ifstream infile(filename);
//read file
std::string line;
std::string filename = getDataFile("barometer/baro1.dat");
std::ifstream infile(filename);
std::vector<ActivityButterPressurePercent::ActivityProbabilities> actHist;
std::vector<double> rawHist;
std::vector<ActivityButterPressurePercent::ActivityProbabilities> actHist;
std::vector<double> rawHist;
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (iss >> ts >> value) {
ActivityButterPressurePercent::ActivityProbabilities activity = act.add(Timestamp::fromMS(ts), BarometerData(value));
rawHist.push_back(value);
actHist.push_back(activity);
}
}
while (iss >> ts >> value) {
ActivityButterPressurePercent::ActivityProbabilities activity = act.add(Timestamp::fromMS(ts), BarometerData(value));
rawHist.push_back(value);
actHist.push_back(activity);
}
}
K::Gnuplot gp;
K::Gnuplot gpRaw;
K::GnuplotPlot plot;
K::GnuplotPlot plotRaw;
K::GnuplotPlotElementLines rawLines;
K::GnuplotPlotElementLines resultLines;
K::Gnuplot gp;
K::Gnuplot gpRaw;
K::GnuplotPlot plot;
K::GnuplotPlot plotRaw;
K::GnuplotPlotElementLines rawLines;
K::GnuplotPlotElementLines resultLines;
for(int i=0; i < actHist.size()-1; ++i){
for(int i=0; i < actHist.size()-1; ++i){
K::GnuplotPoint2 raw_p1(i, rawHist[i]);
K::GnuplotPoint2 raw_p2(i+1, rawHist[i+1]);
K::GnuplotPoint2 raw_p1(i, rawHist[i]);
K::GnuplotPoint2 raw_p2(i+1, rawHist[i+1]);
rawLines.addSegment(raw_p1, raw_p2);
rawLines.addSegment(raw_p1, raw_p2);
K::GnuplotPoint2 input_p1(i, actHist[i].elevatorDown);
K::GnuplotPoint2 input_p2(i+1, actHist[i+1].elevatorDown);
K::GnuplotPoint2 input_p1(i, actHist[i].elevatorDown);
K::GnuplotPoint2 input_p2(i+1, actHist[i+1].elevatorDown);
resultLines.addSegment(input_p1, input_p2);
}
resultLines.addSegment(input_p1, input_p2);
}
plotRaw.add(&rawLines);
plot.add(&resultLines);
plotRaw.add(&rawLines);
plot.add(&resultLines);
gp.draw(plot);
gp.flush();
gp.draw(plot);
gp.flush();
gpRaw.draw(plotRaw);
gpRaw.flush();
gpRaw.draw(plotRaw);
gpRaw.flush();
sleep(5);
sleep(5);
}