FHWS/Indoor
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graphical exception [temporary solution]

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performance fixes
minor changes
This commit is contained in:
FrankE
2016-09-29 21:03:49 +02:00
parent 4f511d907e
commit e75327090d
6 changed files with 46 additions and 20 deletions
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7
grid/walk/v2/modules/WalkModuleFollowDestination.h
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@@ -20,7 +20,7 @@ private:
const Grid<Node>& grid;
Dijkstra<Node> dijkstra;
const DijkstraNode<Node>* dnDest;
const DijkstraNode<Node>* dnDest = nullptr;
struct DijkstraAccess {
const Grid<Node>& grid;
@@ -58,9 +58,14 @@ public:
/** get the shortest path from the given start to the configured destination */
DijkstraPath<Node> getShortestPath(const Node& start) {
// destination unknown? -> empty path
if (!dnDest) {return DijkstraPath<Node>();}
const DijkstraNode<Node>* dnStart = dijkstra.getNode(start);
const DijkstraPath<Node> path(dnStart, dnDest);
return path;
}
virtual void updateBefore(WalkState& state, const Node& startNode) override {

4
grid/walk/v2/modules/WalkModuleHeadingControl.h
View File

@@ -14,7 +14,7 @@ template <typename Node, typename WalkState, typename Control> class WalkModuleH
private:
/** CURRENTLY NOT USED van-Mises distribution */
Distribution::LUT<double> dist;
Distribution::LUT<float> dist;
/** random noise */
Distribution::Normal<float> distNoise;
@@ -25,7 +25,7 @@ public:
/** ctor 3.0 should be OK! */
WalkModuleHeadingControl(const Control* ctrl, const float sensorNoiseDegreesSigma) :
dist(Distribution::VonMises<double>(0.0f, 2.0).getLUT()),
dist(Distribution::VonMises<float>(0.0f, 2.0f).getLUT()),
distNoise(0, Angle::degToRad(sensorNoiseDegreesSigma)),
ctrl(ctrl) {