kazu
4f511d907e
needed interface changes [new options] logger for android wifi-ap-optimization new test-cases
56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
#ifndef WALKMODULE_H
|
|
#define WALKMODULE_H
|
|
|
|
#include "../../../Grid.h"
|
|
|
|
/** base-class for all WalkStates */
|
|
struct WalkState {
|
|
|
|
/** current position within the grid (-> in cm!) */
|
|
GridPoint position;
|
|
|
|
/** nested struct to prevent name clashes */
|
|
struct Distance {
|
|
|
|
/**
|
|
* for every walk, the walker is given a desired distance
|
|
* however, the walking distance depends on the grid size and can
|
|
* therefore never be reached exactly. therefor we track the
|
|
* error between desired and walked distance to ensure "in average"
|
|
* the walked distance is correct
|
|
*/
|
|
float error_m;
|
|
|
|
Distance() : error_m(0) {;}
|
|
|
|
} distance;
|
|
|
|
/** ctor */
|
|
explicit WalkState(const GridPoint& position) : position(position) {;}
|
|
|
|
};
|
|
|
|
|
|
/**
|
|
* base-class for all walk-modules that influence p(e)
|
|
*/
|
|
template <typename Node, typename WalkState> class WalkModule {
|
|
|
|
public:
|
|
|
|
/** update the given WalkState before starting the walk. e.g. based on sensor readings */
|
|
virtual void updateBefore(WalkState& state, const Node& startNode) = 0;
|
|
|
|
/** get the probability p(e) from curNode to potentialNode */
|
|
virtual double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const = 0;
|
|
|
|
/** one step (edge) is taken */
|
|
virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) = 0;
|
|
|
|
/** update the walk state based on the given transition (if any update is necssary) */
|
|
virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) = 0;
|
|
|
|
};
|
|
|
|
#endif // WALKMODULE_H
|