FHWS/Indoor
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added new data-structures

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added new test-cases
added flexible dijkstra calculation
added debugging log
modified: plotting, grid-generation, grid-importance,
refactoring
This commit is contained in:
FrankE
2016-01-22 18:47:06 +01:00
parent 12084fe147
commit cdf97322f8
21 changed files with 720 additions and 141 deletions
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29
grid/factory/GridFactory.h
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@@ -9,10 +9,16 @@
#include "../GridNodeBBox.h"
#include "../Grid.h"
#include "../../misc/Debug.h"
template <int gridSize_cm, typename T> class GridFactory {
/** logging name */
static constexpr const char* name = "GridFac";
private:
/** the grid to build into */
Grid<gridSize_cm, T>& grid;
@@ -24,6 +30,7 @@ public:
/** add the given floor at the provided height (in cm) */
void addFloor(const Floor& floor, const float z_cm) {
Log::add(name, "adding floor at height " + std::to_string(z_cm));
// build grid-points
for(int x_cm = 0; x_cm < floor.getWidth_cm(); x_cm += gridSize_cm) {
@@ -43,8 +50,11 @@ public:
}
/** connect all neighboring nodes located on the given height-plane */
void connectAdjacent(const float z_cm) {
Log::add(name, "connecting all adjacent nodes at height " + std::to_string(z_cm));
// connect adjacent grid-points
for (int idx = 0; idx < grid.getNumNodes(); ++idx) {
@@ -79,6 +89,8 @@ public:
void addStairs(const Stairs& stairs, const float z1_cm, const float z2_cm) {
Log::add(name, "adding stairs between " + std::to_string(z1_cm) + " and " + std::to_string(z2_cm));
for (const Stair& s : stairs) {
for (int i = 0; i < grid.getNumNodes(); ++i) {
@@ -100,7 +112,7 @@ public:
buildStair(n, n2);
}
int i = 0;
}
}
@@ -182,16 +194,21 @@ public:
void removeIsolated() {
Log::add(name, "searching for isolated nodes");
// get largest connected region
std::set<int> set;
do {
const int idxStart = rand() % grid.getNumNodes();
set.clear();
Log::add(name, "getting connected region starting at " + (std::string) grid[idxStart]);
getConnected(idxStart, set);
Log::add(name, "region size is " + std::to_string(set.size()) + " nodes");
} while (set.size() < 0.5 * grid.getNumNodes());
// remove all other
Log::add(name, "removing the isolated nodes");
for (int i = 0; i < grid.getNumNodes(); ++i) {
if (set.find(i) == set.end()) {grid.remove(i);}
}
@@ -206,10 +223,14 @@ private:
/** recursively get all connected nodes and add them to the set */
void getConnected(const int idx, std::set<int>& set) {
T& n1 = (T&) grid[idx];
// get the node behind idx
const T& n1 = (T&) grid[idx];
// add him to the current region
set.insert(n1.getIdx());
for (T& n2 : grid.neighbors(n1)) {
// get all his (unprocessed) neighbors and add them to the region
for (const T& n2 : grid.neighbors(n1)) {
if (set.find(n2.getIdx()) == set.end()) {
getConnected(n2.getIdx(), set);
}