FHWS/Indoor
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dijkstra is now bleching fast

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deleting from the grid is now bleaching fast
added new helper methods
many new test-cases
many new methods for geo classes and others
added a bunch of new grid-walkers
This commit is contained in:
FrankE
2016-01-26 18:13:30 +01:00
parent b503fb9bdc
commit e6329e1db4
26 changed files with 824 additions and 179 deletions
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24
grid/factory/GridImportance.h
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@@ -52,6 +52,9 @@ public:
// process each node
for (T& n1 : g) {
// skip nodes on other than the requested floor-level
if (n1.z_cm != z_cm) {continue;}
// get the 10 nearest neighbors and their distance
size_t indices[numNeighbors];
float squaredDist[numNeighbors];
@@ -64,7 +67,9 @@ public:
neighbors.push_back(&inv[indices[i]]);
}
addImportance(n1, Units::cmToM(std::sqrt(squaredDist[0])) );
n1.imp = 1.0f;
n1.imp += getWallImportance(n1, Units::cmToM(std::sqrt(squaredDist[0])) );
//addDoor(n1, neighbors);
// is the current node a door?
@@ -81,20 +86,16 @@ public:
// process each node again
for (T& n1 : g) {
static K::NormalDistribution favorDoors(0.0, 0.6);
static K::NormalDistribution favorDoors(0.0, 1.0);
// get the distance to the nearest door
const float dist_m = Units::cmToM(knnDoors.getNearestDistance( {n1.x_cm, n1.y_cm, n1.z_cm} ));
// importance for this node (based on the distance from the next door)
const float imp = 1.0 + favorDoors.getProbability(dist_m) * 0.35;
// adjust
n1.imp *= imp;
n1.imp += favorDoors.getProbability(dist_m) * 0.30;
}
}
/** is the given node connected to a staircase? */
@@ -190,10 +191,10 @@ public:
}
/** get the importance of the given node depending on its nearest wall */
template <typename T> void addImportance(T& nSrc, float dist_m) {
template <typename T> float getWallImportance(T& nSrc, float dist_m) {
// avoid sticking too close to walls (unlikely)
static K::NormalDistribution avoidWalls(0.0, 0.3);
static K::NormalDistribution avoidWalls(0.0, 0.4);
// favour walking near walls (likely)
static K::NormalDistribution sticToWalls(0.9, 0.5);
@@ -203,10 +204,9 @@ public:
if (dist_m > 2.0) {dist_m = 2.0;}
// overall importance
nSrc.imp *= 1.0
- avoidWalls.getProbability(dist_m) * 0.35 // avoid walls
return - avoidWalls.getProbability(dist_m) * 0.30 // avoid walls
+ sticToWalls.getProbability(dist_m) * 0.15 // walk near walls
+ farAway.getProbability(dist_m) * 0.20 // walk in the middle
+ farAway.getProbability(dist_m) * 0.15 // walk in the middle
;