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worked on grid-walker

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This commit is contained in:
k-a-z-u
2017-10-25 16:58:41 +02:00
parent feaa2ea12c
commit ea351d6377
4 changed files with 273 additions and 55 deletions
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10
grid/walk/v3/WalkEvaluator.h
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@@ -50,8 +50,12 @@ namespace GW3 {
/** evaluate the difference between head(start,end) and the requested heading */
template <typename Node> class WalkEvalHeadingStartEnd : public WalkEvaluator<Node> {
const double sigma;
public:
WalkEvalHeadingStartEnd(const double sigma = 0.04) : sigma(sigma) {;}
virtual double getProbability(const Point3 pStart, const Point3 pEnd, const WalkParams& params) const override {
(void) params;
@@ -64,7 +68,7 @@ namespace GW3 {
const Heading head(pStart.xy(), pEnd.xy());
const float diff = head.getDiffHalfRAD(params.heading);
//const float diff = Heading::getSignedDiff(params.heading, head);
return Distribution::Normal<double>::getProbability(0, 0.04, diff);
return Distribution::Normal<double>::getProbability(0, sigma, diff);
}
@@ -73,10 +77,12 @@ namespace GW3 {
/** evaluate the difference between distance(start, end) and the requested distance */
template <typename Node> class WalkEvalDistance : public WalkEvaluator<Node> {
const double sigma = 0.1f;
const double sigma;
public:
WalkEvalDistance(const double sigma = 0.1) : sigma(sigma) {;}
virtual double getProbability(const Point3 pStart, const Point3 pEnd, const WalkParams& params) const override {
const float walkedDistance_m = pStart.getDistance(pEnd);