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minor changes to grid walking

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This commit is contained in:
k-a-z-u
2017-12-13 16:37:51 +01:00
parent 1114331fd2
commit d48b0b8fd4
7 changed files with 41 additions and 24 deletions
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12
grid/Grid.h
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@@ -213,6 +213,14 @@ public:
return GridNodeBBox(node, gridSize_cm);
}
/** is this node part of a non-plain stair/escalator */
bool isPlain(const T& n1) const {
for (const T& n2 : neighbors(n1)) {
if (n2.z_cm != n1.z_cm) {return false;}
}
return true;
}
/**
* get an UID for the given point.
* this works only for aligned points.
@@ -469,11 +477,11 @@ public:
NeighborForEach neighbors(const int idx) {
NeighborForEach neighbors(const int idx) const {
return neighbors(nodes[idx]);
}
NeighborForEach neighbors(const T& node) {
NeighborForEach neighbors(const T& node) const {
return NeighborForEach(*this, node._idx);
}

1
grid/GridNode.h
View File

@@ -87,6 +87,7 @@ public:
/** set the node's semantic type */
void setType(const uint8_t type) {this->_type = type;}
// /** get the n-th neighbor for this node */
// template <int gridSize_cm, typename T> inline T& getNeighbor(const int nth, const Grid<gridSize_cm, T>& grid) const {
// return grid.getNeighbor(_idx, nth);

12
grid/walk/v3/Walker.h
View File

@@ -121,7 +121,7 @@ namespace GW3 {
if (grid.hasNodeFor(gp)) {
res.position = p3; // update position
//res.heading; // keep as-is
res.probability *= getP(p3); // keep as-is
res.probability *= 1;//getP(p3); // keep as-is
return res; // done
} else {
@@ -157,7 +157,7 @@ namespace GW3 {
}
res.heading = Heading(start.xy(), end.xy());
res.probability *= getP(end);
res.probability *= 0.1;//getP(end);
res.position = end;
return res;
@@ -237,7 +237,7 @@ namespace GW3 {
int numVisitedNodes = 0;
#define MODE 3
#define MODE 2
#if (MODE == 1)
@@ -249,9 +249,10 @@ namespace GW3 {
for (const Node* dstNode : nodes) {
const Point3 nodeCenter = Helper::gpToP3(*dstNode);
const float walkDist_m = nodeCenter.getDistance(start);//*1.05;
double p = 1.0;
for (const WalkEvaluator<Node>* eval : evals) {
const double p1 = eval->getProbability(start, nodeCenter, params);
const double p1 = eval->getProbability(start, nodeCenter, walkDist_m, params);
p *= p1;
}
if (p > bestNodeP) {
@@ -284,10 +285,11 @@ namespace GW3 {
// destination = nodeCenter + offset (within the node's bbox, (x,y) only! keep z as-is)
const Point3 end(nodeCenter.x + ox, nodeCenter.y + oy, nodeCenter.z);
const float walkDist_m = end.getDistance(start);//*1.05;
double p = 1;
for (const WalkEvaluator<Node>* eval : evals) {
const double p1 = eval->getProbability(start, end, params);
const double p1 = eval->getProbability(start, end, walkDist_m, params);
p *= p1;
}