kazu
04d8ae8c74
- some should be the same as previous commit (sorry!) - some should be new: LINT checks, ...?
137 lines
3.4 KiB
C++
137 lines
3.4 KiB
C++
#ifndef FLOORPLANCEILINGS_H
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#define FLOORPLANCEILINGS_H
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#include "Floorplan.h"
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namespace Floorplan {
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/**
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* helper-class for floorplan ceilings
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* e.g. to determine the number of ceilings between two given positions
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*/
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class Ceilings {
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private:
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/** position (height) of all ceilings (in meter) */
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std::vector<float> ceilingsAtHeight_m;
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public:
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/** empty ctor */
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Ceilings() {
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;
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}
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/** ctor with the map to work with */
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Ceilings(const IndoorMap* map) {
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// sanity checks
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Assert::isTrue(map->floors.size() >= 1, "map has no floors?!");
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// get position of all ceilings
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for (Floorplan::Floor* f : map->floors) {
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const float h1 = f->atHeight;
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const float h2 = f->atHeight + f->height;
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if (std::find(ceilingsAtHeight_m.begin(), ceilingsAtHeight_m.end(), h1) == ceilingsAtHeight_m.end()) {
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ceilingsAtHeight_m.push_back(h1);
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}
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if (std::find(ceilingsAtHeight_m.begin(), ceilingsAtHeight_m.end(), h2) == ceilingsAtHeight_m.end()) {
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ceilingsAtHeight_m.push_back(h2);
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}
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}
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}
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std::vector<float> getCeilings() const {
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return ceilingsAtHeight_m;
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}
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void addCeiling(const float height_m) {
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ceilingsAtHeight_m.push_back(height_m);
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}
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void clear() {
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ceilingsAtHeight_m.clear();
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}
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/** get a fading number of floors between ap and person using sigmod in the area where the ceiling is */
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float numCeilingsBetweenFloat(const Point3 ap, const Point3 person) const {
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// sanity checks
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Assert::isNot0(ceilingsAtHeight_m.size(), "no ceilings available for testing! incorrect map?");
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// fading between floors using sigmoid
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const float near = 1.0;
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float cnt = 0;
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for (const float z : ceilingsAtHeight_m) {
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const float myDistToCeil = (ap.z < person.z) ? (person.z - z) : (z - person.z);
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if ( std::abs(myDistToCeil) < near ) {
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cnt += sigmoid(myDistToCeil*6);
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} else if (ap.z < z && person.z >= z+near) { // AP below celing, me above ceiling
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cnt += 1;
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} else if (ap.z > z && person.z <= z-near) { // AP above ceiling, me below ceiling
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cnt += 1;
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}
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}
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return cnt;
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}
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/** get the number of ceilings between z1 and z2 */
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int numCeilingsBetween(const Point3 pos1, const Point3 pos2) const {
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// sanity checks
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Assert::isNot0(ceilingsAtHeight_m.size(), "no ceilings available for testing! incorrect map?");
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// find min and max height given the to-be-compared points
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const float zMin = std::min(pos1.z, pos2.z);
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const float zMax = std::max(pos1.z, pos2.z);
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#ifdef WITH_ASSERTIONS
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static size_t numNear = 0;
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static size_t numFar = 0;
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for (const float z : ceilingsAtHeight_m) {
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const float diff = std::min( std::abs(z-zMin), std::abs(z-zMax) );
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if (diff < 0.1) {++numNear;} else {++numFar;}
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}
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if ((numNear + numFar) > 150000) {
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Assert::isTrue(numNear < numFar*0.5,
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"many requests to Floorplan::Ceilings::numCeilingsBetween address nodes (very) near to a ground! \
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due to rounding issues, determining the number of floors between AP and point-in-question is NOT possible! \
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expect very wrong outputs! \
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consider adding the person's height to the questioned positions: p += Point3(0,0,1.3) "
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);
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}
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#endif
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int cnt = 0;
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for (const float z : ceilingsAtHeight_m) {
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if (zMin < z && zMax > z) {++cnt;}
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}
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return cnt;
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}
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private:
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static inline float sigmoid(const float val) {
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return 1.0f / (1.0f + std::exp(-val));
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}
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};
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}
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#endif // FLOORPLANCEILINGS_H
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