FHWS/Indoor
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added interface for walkers

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some new helper methods
added interpolater for paths
This commit is contained in:
FrankE
2016-01-28 21:48:04 +01:00
parent c4ea811342
commit da0bd43fe0
10 changed files with 92 additions and 66 deletions
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7
grid/walk/GridWalkRandomHeadingUpdateAdv.h
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@@ -9,6 +9,7 @@
#include "../../math/Distributions.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "GridWalk.h"
#include "GridWalkState.h"
#include "GridWalkHelper.h"
@@ -23,14 +24,14 @@
* - adds additional randomness which should be more stable
*
*/
template <typename T> class GridWalkRandomHeadingUpdateAdv {
template <typename T> class GridWalkRandomHeadingUpdateAdv : public GridWalk<T> {
friend class GridWalkHelper;
private:
/** per-edge: change heading with this sigma */
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(5);
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
/** fast random-number-generator */
std::minstd_rand gen;
@@ -45,7 +46,7 @@ public:
;
}
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T> start, const float distance_m) {
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T> start, const float distance_m) override {
return GridWalkHelper::retryOrInvert(*this, 2, grid, start, distance_m);