67 lines
1.9 KiB
C++
67 lines
1.9 KiB
C++
/*
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* © Copyright 2014 – Urheberrechtshinweis
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* Alle Rechte vorbehalten / All Rights Reserved
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*
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* Programmcode ist urheberrechtlich geschuetzt.
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* Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
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* Keine Verwendung ohne explizite Genehmigung.
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* (vgl. § 106 ff UrhG / § 97 UrhG)
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*/
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#ifndef WALKMODULE_H
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#define WALKMODULE_H
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#include "../../../Grid.h"
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#include "../../../GridPoint.h"
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/** base-class for all WalkStates */
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struct WalkState {
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/** current position within the grid (-> in cm!) */
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GridPoint position;
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/** nested struct to prevent name clashes */
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struct Distance {
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/**
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* for every walk, the walker is given a desired distance
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* however, the walking distance depends on the grid size and can
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* therefore never be reached exactly. therefor we track the
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* error between desired and walked distance to ensure "in average"
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* the walked distance is correct
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*/
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float error_m;
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Distance() : error_m(0) {;}
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} distance;
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/** ctor */
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explicit WalkState(const GridPoint& position) : position(position) {;}
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};
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/**
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* base-class for all walk-modules that influence p(e)
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*/
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template <typename Node, typename WalkState> class WalkModule {
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public:
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/** update the given WalkState before starting the walk. e.g. based on sensor readings */
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virtual void updateBefore(WalkState& state, const Node& startNode) = 0;
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/** get the probability p(e) from curNode to potentialNode */
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virtual double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const = 0;
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/** one step (edge) is taken */
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virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) = 0;
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/** update the walk state based on the given transition (if any update is necssary) */
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virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) = 0;
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};
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#endif // WALKMODULE_H
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