kazu
04d8ae8c74
- some should be the same as previous commit (sorry!) - some should be new: LINT checks, ...?
85 lines
2.5 KiB
C++
85 lines
2.5 KiB
C++
#ifndef WALKMODULEABSOLUTEHEADINGCONTROL_H
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#define WALKMODULEABSOLUTEHEADINGCONTROL_H
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/**
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* compare the state's absolute heading against a given compass [control]
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*/
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#include "WalkModule.h"
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#include "WalkStateHeading.h"
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#include "../../../../geo/Heading.h"
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#include "../../../../math/Distributions.h"
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/** keep the state's heading */
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template <typename Node, typename WalkState, typename Control> class WalkModuleAbsoluteHeadingControl : public WalkModule<Node, WalkState> {
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const float sigma_rad;
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const Control* ctrl;
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public:
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/** ctor. 180 should be OK! */
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WalkModuleAbsoluteHeadingControl(const Control* ctrl, const float sensorNoiseDegreesSigma) :
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sigma_rad(Angle::degToRad(sensorNoiseDegreesSigma)),
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ctrl(ctrl) {
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// ensure the template WalkState inherits from 'WalkStateHeading'!
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StaticAssert::AinheritsB<WalkState, WalkStateHeading>();
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}
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virtual void updateBefore(WalkState& state, const Node& startNode) override {
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(void) state;
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(void) startNode;
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}
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virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
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(void) state;
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(void) startNode;
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(void) endNode;
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}
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virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
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(void) state;
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(void) curNode;
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(void) nextNode;
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}
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double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
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(void) startNode;
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// NOTE: ctrl->turnAngle is cumulative SINCE the last transition!
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// reset this one after every transition!
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Assert::isBetween(ctrl->compassAzimuth_rad, 0.0f, (float)(2*M_PI), "the given absolute heading is out of bounds");
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// ignore for stairs?
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//if (potentialNode.getType() == GridNode::TYPE_STAIR) {return 1.0;}
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// for elevator edges [same (x,y) but different z] just return 1
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if (potentialNode.getType() == GridNode::TYPE_ELEVATOR) {return 1.0;}
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if (curNode.getType() == GridNode::TYPE_ELEVATOR) {return 1.0;}
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//if (curNode.x_cm == potentialNode.x_cm && curNode.y_cm == potentialNode.y_cm && curNode.z_cm != potentialNode.z_cm) {return 1.0;}
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// get the heading between curNode and potentialNode
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const Heading head(curNode.x_cm, curNode.y_cm, potentialNode.x_cm, potentialNode.y_cm);
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// compare the heading against the state's heading - the last error
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const Heading stateHead = state.heading.direction;
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// get the difference
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const float angularDiff = head.getDiffHalfRAD(stateHead);
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if (angularDiff > Angle::degToRad(100)) {return 0.10;}
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{return 0.90;}
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}
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};
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#endif // WALKMODULEABSOLUTEHEADINGCONTROL_H
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