added new data-structures

added new test-cases
added flexible dijkstra calculation
added debugging log
modified: plotting, grid-generation, grid-importance,
refactoring

tests/grid/TestAll.cpp

@@ -0,0 +1,69 @@
+#ifdef WITH_TESTS
+
+#include "../Tests.h"
+
+#include "../../grid/factory/GridImportance.h"
+#include "../../grid/factory/GridFactory.h"
+#include "../../floorplan/FloorplanFactorySVG.h"
+#include "../../nav/dijkstra/Dijkstra.h"
+
+#include "Plot.h"
+
+TEST(TestAll, Nav) {
+
+
+	Grid<20, GP> g;
+
+	// dijkstra mapper
+	class TMP {
+		Grid<20, GP>& grid;
+	public:
+		TMP(Grid<20, GP>& grid) : grid(grid) {;}
+		int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
+		const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
+		float getWeightBetween(const GP& n1, const GP& n2) const {
+			float d = ((Point3)n1 - (Point3)n2).length(2.5);
+			//if (d > 20) {d*= 1.30;}
+			return d / std::pow(n2.imp, 3);
+		}
+	} tmp(g);
+
+	GridFactory<20, GP> gf(g);
+	FloorplanFactorySVG fpf(getDataFile("fp1.svg"), 6);
+
+	Floor f1 = fpf.getFloor("1");
+	Floor f2 = fpf.getFloor("2");
+	Stairs s1_2 = fpf.getStairs("1_2");
+
+	gf.addFloor(f1, 20);
+	gf.addFloor(f2, 340);
+	gf.addStairs(s1_2, 20, 340);
+	gf.removeIsolated();
+
+
+	GridImportance gi;
+	gi.addImportance(g, 20);
+	gi.addImportance(g, 340);
+
+	Dijkstra<GP> d;
+	const GP& start = g.getNodeFor(GridPoint(500,200,20));
+	//const GP& end = g.getNodeFor(GridPoint(1400,1400,20));
+	const GP& end = g.getNodeFor(GridPoint(1200,200,340));
+	d.build(start, end, tmp);
+
+	// plot path
+	K::GnuplotSplotElementLines path; path.setColorHex("#0000ff"); path.setLineWidth(2);
+	DijkstraNode<GP>* dn = d.getNode(end);
+	while (dn->previous != nullptr) {
+		path.add(K::GnuplotPoint3(dn->element->x_cm, dn->element->y_cm, dn->element->z_cm));
+		dn = dn->previous;
+	}
+
+	Plot p;
+	p.build(g);
+	p.splot.add(&path);
+	p.fire();
+
+}
+
+#endif