125 lines
3.4 KiB
C++
125 lines
3.4 KiB
C++
#ifndef GRIDWALKPUSHFORWARD_H
|
|
#define GRIDWALKPUSHFORWARD_H
|
|
|
|
/**
|
|
* todo
|
|
*/
|
|
#include "../../geo/Heading.h"
|
|
#include "../Grid.h"
|
|
|
|
#include "../../math/DrawList.h"
|
|
#include "../../nav/dijkstra/Dijkstra.h"
|
|
|
|
#include "GridWalkState.h"
|
|
#include "GridWalkHelper.h"
|
|
#include "GridWalk.h"
|
|
|
|
/**
|
|
* keeps something like an "average position within the last X steps"
|
|
* and tries to move away from this point as fast as possible
|
|
*
|
|
*/
|
|
template <typename T> class GridWalkPushForward : public GridWalk<T> {
|
|
|
|
friend class GridWalkHelper;
|
|
|
|
private:
|
|
|
|
/** per-edge: change heading with this sigma */
|
|
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(3);
|
|
|
|
static constexpr float HEADING_ALLOWED_SIGMA = Angle::degToRad(20);
|
|
|
|
/** fast random-number-generator */
|
|
std::minstd_rand gen;
|
|
|
|
/** 0-mean normal distribution */
|
|
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);
|
|
|
|
public:
|
|
|
|
/** ctor */
|
|
GridWalkPushForward() {
|
|
;
|
|
}
|
|
|
|
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, const float distance_m) override {
|
|
|
|
return GridWalkHelper::retryOrInvert(*this, 2, grid, start, distance_m);
|
|
|
|
}
|
|
|
|
private:
|
|
|
|
// NOTE: allocate >>ONCE<<! otherwise random numbers will NOT work!
|
|
DrawList<T*> drawer;
|
|
|
|
GridWalkState<T> walk(Grid<T>& grid, const GridWalkState<T>& cur, float distRest_m) {
|
|
|
|
drawer.reset();
|
|
|
|
// weight all neighbors based on this heading
|
|
for (T& neighbor : grid.neighbors(*cur.node)) {
|
|
|
|
// get the heading between the current node and its neighbor
|
|
const Heading potentialHeading = GridWalkHelper::getHeading(*cur.node, neighbor);
|
|
|
|
// calculate the difference from the requested heading
|
|
const float diffRad = potentialHeading.getDiffHalfRAD(cur.heading);
|
|
|
|
// weight this change
|
|
const float prob1 = Distribution::Normal<float>::getProbability(0, HEADING_ALLOWED_SIGMA, diffRad);
|
|
|
|
|
|
// distance from average? and previous distance from average
|
|
const float distToAvg = Point3(neighbor.x_cm, neighbor.y_cm, neighbor.z_cm).getDistance(cur.avg);
|
|
const float prevDistToAvg = Point3(cur.node->x_cm, cur.node->y_cm, cur.node->z_cm).getDistance(cur.avg);
|
|
const float increase = distToAvg - prevDistToAvg;
|
|
|
|
// the distance from the average MUST increase
|
|
const float prob2 = (increase > 0) ? (1) : (0.1);
|
|
|
|
// add floorplan importance information
|
|
const float prob3 = std::pow(neighbor.imp, 1);
|
|
|
|
const float prob = prob1*prob2*prob3;
|
|
|
|
// add for drawing
|
|
drawer.add(&neighbor, prob);
|
|
|
|
}
|
|
|
|
|
|
// all neighbors are unlikely? -> start over
|
|
if (drawer.getCumProbability() < 0.01) {return GridWalkState<T>();}
|
|
|
|
// create a copy (to keep heading and walked distance)
|
|
GridWalkState<T> next = cur;
|
|
|
|
// pick the neighbor best matching this new heading
|
|
next.node = drawer.get();
|
|
next.heading = GridWalkHelper::getHeading(*cur.node, *next.node) + headingChangeDist(gen);
|
|
|
|
// weighted average.. moves over time
|
|
next.avg = (cur.avg * 0.9) + (Point3(next.node->x_cm, next.node->y_cm, next.node->z_cm) * 0.1);
|
|
|
|
// get the distance up to this neighbor
|
|
const float walked_m = next.node->getDistanceInMeter(*cur.node);
|
|
distRest_m -= walked_m;
|
|
|
|
// update the heading-change and walked-distance
|
|
next.headingChange_rad += next.heading.getRAD() - cur.heading.getRAD();
|
|
next.distanceWalked_m += walked_m;
|
|
|
|
// done?
|
|
if (distRest_m <= 0) {return next;}
|
|
|
|
// another round..
|
|
return walk(grid, next, distRest_m);
|
|
|
|
}
|
|
|
|
};
|
|
|
|
#endif // GRIDWALKPUSHFORWARD_H
|