FrankE
382a046df1
added new sanity checks fixed minor errors added corresponding test-cases added moving-median
146 lines
3.7 KiB
C++
146 lines
3.7 KiB
C++
#ifndef GRIDWALKSIMPLECONTROL_H
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#define GRIDWALKSIMPLECONTROL_H
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#include "../../geo/Heading.h"
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#include "../Grid.h"
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#include "../../math/Distributions.h"
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#include "../../math/DrawList.h"
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#include "GridWalkState.h"
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#include "GridWalkHelper.h"
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#include "GridWalk.h"
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template <typename T> class GridWalkSimpleControl : public GridWalk<T> {
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friend class GridWalkHelper;
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private:
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/** per-edge: change heading with this sigma */
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static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
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/** fast random-number-generator */
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std::minstd_rand gen;
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/** 0-mean normal distribution */
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std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);
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DrawList<T&> drawer;
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public:
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/** ctor */
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GridWalkSimpleControl() {
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gen.seed(1234);
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}
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GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad) {
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// proportional change of the heading
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static Distribution::Normal<float> dHead(1, 0.01);
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// proportional change of the to-be-walked distance
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static Distribution::Normal<float> dWalk(1, 0.50);
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distance_m = distance_m*dWalk.draw()*2; // TODO: why *2?
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headChange_rad = headChange_rad*dHead.draw();
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return walk(grid, start, distance_m, headChange_rad);
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}
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private:
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double getProbability(const T& start, const T& possible, const Heading head) const {
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// TODO: WHY?! not only when going back to the start?
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if (start.x_cm == possible.x_cm && start.y_cm == possible.y_cm) {
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if (start.z_cm == possible.z_cm) {return 0;} // back to the start
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throw 1;
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return 0.5;// stair start/end TODO: fix
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}
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// get the angle between START and the possible next node
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const Heading possibleHead = GridWalkHelper::getHeading(start, possible);
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// calculate the difference
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const float diff = possibleHead.getDiffHalfRAD(head);
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// // compare this heading with the requested one
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const double angleProb = Distribution::Normal<float>::getProbability(0, Angle::degToRad(15), diff);
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// const double angleProb = (diff <= Angle::degToRad(15)) ? 1 : 0.1; // favor best 3 angles equally
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// nodes own importance
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//const double nodeProb = Distribution::Logistic<float>::getCDF(possible.imp, 1, 0.5);
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const double nodeProb = std::pow(possible.imp, 5);
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//const double nodeProb = 1.0;
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// bring it together
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return angleProb * nodeProb;
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}
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GridWalkState<T> walk(Grid<T>& grid, const GridWalkState<T>& start, const float distance_m, const float headChange_rad) {
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// try-again distribution
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//static Distribution::Normal<float> dHead(0, Angle::degToRad(10));
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//static Distribution::Normal<float> dUpdate(0, Angle::degToRad(3));
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static Distribution::Uniform<float> dChange(Angle::degToRad(0), +Angle::degToRad(359));
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int retries = 5;
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float walked_m = 0;
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GridWalkState<T> cur = start;
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// the desired heading
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Heading reqHeading = start.heading + (headChange_rad);
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// walk until done
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while(walked_m < distance_m) {
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// evaluate all neighbors
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drawer.reset();
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for (T& neighbor : grid.neighbors(*cur.node)) {
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const double prob = getProbability(*start.node, neighbor, reqHeading);
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drawer.add(neighbor, prob);
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}
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// too bad? start over!
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if (drawer.getCumProbability() < 0.1 && (--retries) >= 0) {
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walked_m = 0;
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cur = start;
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//WHAT THE HELL
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if (retries == 0) { reqHeading = dChange.draw(); }
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continue;
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}
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// get the neighbor
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const T& neighbor = drawer.get();
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// update
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walked_m += neighbor.getDistanceInMeter(*cur.node);
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cur.node = &neighbor;
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}
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cur.distanceWalked_m = NAN;
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cur.headingChange_rad = NAN;
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cur.heading = reqHeading;
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return cur;
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}
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};
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#endif // GRIDWALKSIMPLECONTROL_H
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