118 lines
3.0 KiB
C++
118 lines
3.0 KiB
C++
#ifndef WALKMODULEFOLLOWDESTINATION_H
|
|
#define WALKMODULEFOLLOWDESTINATION_H
|
|
|
|
#include "WalkModule.h"
|
|
#include "WalkStateHeading.h"
|
|
|
|
#include "../../../../nav/dijkstra/Dijkstra.h"
|
|
#include "../../../../nav/dijkstra/DijkstraPath.h"
|
|
|
|
#include "../../../../math/distribution/Normal.h"
|
|
#include "../../../../Assertions.h"
|
|
|
|
|
|
/**
|
|
* favor nodes that approach a known destination
|
|
*/
|
|
template <typename Node, typename WalkState> class WalkModuleFollowDestination : public WalkModule<Node, WalkState> {
|
|
|
|
private:
|
|
|
|
const Grid<Node>& grid;
|
|
Dijkstra<Node> dijkstra;
|
|
const DijkstraNode<Node>* dnDest = nullptr;
|
|
|
|
struct DijkstraAccess {
|
|
const Grid<Node>& grid;
|
|
DijkstraAccess(const Grid<Node>& grid) : grid(grid) {;}
|
|
int getNumNeighbors(const Node& n) const {return n.getNumNeighbors();}
|
|
const Node* getNeighbor(const Node& n, const int idx) const {return &grid.getNeighbor(n, idx);}
|
|
float getWeightBetween(const Node& n1, const Node& n2) const {
|
|
return n1.getDistanceInMeter(n2) / n2.getNavImportance();
|
|
}
|
|
};
|
|
|
|
public:
|
|
|
|
/** ctor WITHOUT known destination*/
|
|
WalkModuleFollowDestination(const Grid<Node>& grid) : grid(grid) {
|
|
|
|
// ensure the template WalkState inherits from 'WalkStateFavorZ'
|
|
//StaticAssert::AinheritsB<WalkState, WalkStateFavorZ>();
|
|
|
|
}
|
|
|
|
const Dijkstra<Node>& getDijkstra() const {
|
|
return dijkstra;
|
|
}
|
|
|
|
/** ctor WITH known destination*/
|
|
WalkModuleFollowDestination(const Grid<Node>& grid, const Node& destination) : grid(grid) {
|
|
setDestination(destination);
|
|
}
|
|
|
|
|
|
/** set the desired destination node */
|
|
void setDestination(const Node& dest) {
|
|
DijkstraAccess acc(grid);
|
|
dijkstra.build(&dest, acc);
|
|
dnDest = dijkstra.getNode(dest);
|
|
}
|
|
|
|
|
|
/** 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 {
|
|
(void) state;
|
|
(void) startNode;
|
|
}
|
|
|
|
virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
|
|
(void) state;
|
|
(void) startNode;
|
|
(void) endNode;
|
|
|
|
}
|
|
|
|
virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
|
|
(void) state;
|
|
(void) curNode;
|
|
(void) nextNode;
|
|
}
|
|
|
|
double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
|
|
|
|
(void) state;
|
|
(void) startNode;
|
|
|
|
const DijkstraNode<Node>* dnCur = dijkstra.getNode(curNode);
|
|
const DijkstraNode<Node>* dnPot = dijkstra.getNode(potentialNode);
|
|
|
|
if (dnCur == nullptr) {return 1.0;}
|
|
if (dnPot == nullptr) {return 1.0;}
|
|
|
|
constexpr double kappa = 0.70;
|
|
|
|
const float curDistToTarget = dnCur->cumWeight;
|
|
const float potDistToTarget = dnPot->cumWeight;
|
|
|
|
return (potDistToTarget < curDistToTarget) ? (kappa) : (1.0-kappa);
|
|
|
|
}
|
|
|
|
|
|
};
|
|
|
|
|
|
#endif // WALKMODULEFOLLOWDESTINATION_H
|