FHWS/Indoor
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geometry changes/fixes/new features

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new grid walkers + fixes
new test-cases
worked on step/and turn detection
android offline-data-reader
worked on vap-grouping
This commit is contained in:
FrankE
2016-09-07 10:16:51 +02:00
parent a203305628
commit d283d9b326
27 changed files with 976 additions and 333 deletions
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9
grid/walk/v2/modules/WalkModuleHeading.h
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@@ -28,13 +28,16 @@ public:
virtual void updateBefore(WalkState& state) override {
(void) state;
state.startHeading += draw.get();
// add noise
state.heading.direction += draw.get();
}
virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
(void) state;
(void) startNode;
(void) endNode;
// if (startNode.x_cm != endNode.x_cm || startNode.y_cm != endNode.y_cm) {
// Heading head(startNode.x_cm, startNode.y_cm, endNode.x_cm, endNode.y_cm);
// state.startHeading = head;
@@ -60,7 +63,7 @@ public:
const Heading head(curNode.x_cm, curNode.y_cm, potentialNode.x_cm, potentialNode.y_cm);
// compare the heading against the state's heading
const Heading stateHead = state.startHeading;
const Heading stateHead = state.heading.direction;
// get the difference
const float angularDiff = head.getDiffHalfRAD(stateHead);//head.getRAD() - stateHead.getRAD();