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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3
grid/walk/v2/GridWalker.h
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@@ -111,9 +111,6 @@ public:
Assert::isBetween(walkImportance, 0.0f, 2.5f, "grid-node's walk-importance is out of range. Did you forget to calculate the importance values after building the grid?");
probability *= walkImportance;// < 0.4f ? (0.1) : (1.0); // "kill" particles that walk near walls (most probably trapped ones)
//probability = std::pow(probability, 5);
// sanity check
Assert::isNotNaN(probability, "detected NaN grid-walk probability");

5
grid/walk/v2/modules/WalkModuleAbsoluteHeadingControl.h
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@@ -74,9 +74,8 @@ public:
// get the difference
const float angularDiff = head.getDiffHalfRAD(stateHead);
if (angularDiff > Angle::degToRad(180)) {return 0.05;}
if (angularDiff > Angle::degToRad(90)) {return 0.25;}
{return 0.70;}
if (angularDiff > Angle::degToRad(100)) {return 0.10;}
{return 0.90;}
}

2
grid/walk/v2/modules/WalkModuleActivityControl.h
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@@ -100,7 +100,7 @@ public:
// if (potentialNode.getType() == GridNode::TYPE_FLOOR) {return kappa;}
// {return 1-kappa;}
default:
throw Exception("not yet implemented");
throw Exception("not yet implemented activity within WalkModuleActivityControl::getProbability");
}
}