FHWS/Indoor
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interface changes

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added new data-strcutures for new sensors
new helper methods
fixed some issues
This commit is contained in:
FrankE
2017-05-24 09:23:27 +02:00
parent f67f95d1ce
commit d40032ca74
29 changed files with 471 additions and 68 deletions
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62
floorplan/v2/FloorplanCeilings.h
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@@ -46,28 +46,62 @@ namespace Floorplan {
}
/** get the number of ceilings between z1 and z2 */
float numCeilingsBetweenFloat(const Point3 pos1, const Point3 pos2) const {
std::vector<float> getCeilings() const {
return ceilingsAtHeight_m;
}
void addCeiling(const float height_m) {
ceilingsAtHeight_m.push_back(height_m);
}
void clear() {
ceilingsAtHeight_m.clear();
}
/** get a fading number of floors between ap and person using sigmod in the area where the ceiling is */
float numCeilingsBetweenFloat(const Point3 ap, const Point3 person) const {
// sanity checks
Assert::isNot0(ceilingsAtHeight_m.size(), "no ceilings available for testing! incorrect map?");
const float zMin = std::min(pos1.z, pos2.z);
const float zMax = std::max(pos1.z, pos2.z);
// fading between floors using sigmoid
const float near = 1.0;
float cnt = 0;
for (const float z : ceilingsAtHeight_m) {
if (zMin < z && zMax > z) {
const float dmax = zMax - z;
cnt += (dmax > 1) ? (1) : (dmax);
const float myDistToCeil = (ap.z < person.z) ? (person.z - z) : (z - person.z);
if ( std::abs(myDistToCeil) < near ) {
cnt += sigmoid(myDistToCeil * 6);
} else if (ap.z < z && person.z >= z+near) { // AP below celing, me above ceiling
cnt += 1;
} else if (ap.z > z && person.z <= z-near) { // AP above ceiling, me below ceiling
cnt += 1;
}
}
return cnt;
}
float numCeilingsBetweenLinearInt(const Point3 ap, const Point3 person) const {
// sanity checks
Assert::isNot0(ceilingsAtHeight_m.size(), "no ceilings available for testing! incorrect map?");
int cnt = 0;
float sum = 0;
for (float z = -1.0; z <= +1.0; z+= 0.25) {
sum += numCeilingsBetween(ap, person + Point3(0,0,z));
++cnt;
}
return sum/cnt;
}
/** get the number of ceilings between z1 and z2 */
int numCeilingsBetween(const Point3 pos1, const Point3 pos2) const {
@@ -80,14 +114,14 @@ namespace Floorplan {
#ifdef WITH_ASSERTIONS
static int numNear = 0;
static int numFar = 0;
static size_t numNear = 0;
static size_t numFar = 0;
for (const float z : ceilingsAtHeight_m) {
const float diff = std::min( std::abs(z-zMin), std::abs(z-zMax) );
if (diff < 0.1) {++numNear;} else {++numFar;}
}
if ((numNear + numFar) > 150000) {
Assert::isTrue(numNear < numFar*0.15,
Assert::isTrue(numNear < numFar*0.5,
"many requests to Floorplan::Ceilings::numCeilingsBetween address nodes (very) near to a ground! \
due to rounding issues, determining the number of floors between AP and point-in-question is NOT possible! \
expect very wrong outputs! \
@@ -105,6 +139,12 @@ namespace Floorplan {
}
private:
static inline float sigmoid(const float val) {
return 1.0f / (1.0f + std::exp(-val));
}
};
}