101 lines
2.7 KiB
C++
101 lines
2.7 KiB
C++
#ifndef GRIDWALKRANDOMHEADINGUPDATE_H
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#define GRIDWALKRANDOMHEADINGUPDATE_H
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#include "../../geo/Heading.h"
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#include "../Grid.h"
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#include "../../math/Random.h"
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#include "../../nav/dijkstra/Dijkstra.h"
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#include "GridWalk.h"
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#include "GridWalkState.h"
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#include "GridWalkHelper.h"
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/**
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* for every walked edge: slightly update (scatter) the current heading
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* pick the edge (neighbor) best matching the current heading
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* if this neighbor's heading highly differs from the requested heading: start over
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*
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* PROs
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* - very simple
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*
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* CONs
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* - particles are bad at walking out of rooms for small grid sizes as there are too many options
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* to stay within the room..
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*
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*/
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template <typename T> class GridWalkRandomHeadingUpdate : 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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Random::RandomGenerator 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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public:
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/** ctor */
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GridWalkRandomHeadingUpdate() {
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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, const float distance_m, const float headChange_rad, Activity act) override {
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return GridWalkHelper::retryOrInvert(*this, 2, grid, start, distance_m, -1);
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}
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private:
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GridWalkState<T> walk(Grid<T>& grid, const GridWalkState<T>& cur, float distRest_m, float headChange = -1) {
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// create a copy (to keep heading and walked distance)
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GridWalkState<T> next = cur;
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// change the heading at the beginning of each walk
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if (headChange == -1) {headChange = headingChangeDist(gen);}
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// get a new random heading
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next.heading = cur.heading + headChange;
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// pick the neighbor best matching this new heading
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next.node = &GridWalkHelper::getBestNeighbor(grid, *cur.node, next.heading);
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// if the best matching neighbor is far of this requested heading
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// (e.g. no good neighbor due to walls) cancel the walk. to force a retry
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const float diff = GridWalkHelper::getHeading(*cur.node, *next.node).getDiffHalfRAD(next.heading);
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if (diff > Angle::degToRad(45)) {
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return GridWalkState<T>();
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}
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// get the distance up to this neighbor
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const float walked_m = next.node->getDistanceInMeter(*cur.node);
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distRest_m -= walked_m;
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// update the heading-change and walked-distance
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next.headingChange_rad += next.heading.getRAD() - cur.heading.getRAD();
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next.distanceWalked_m += walked_m;
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// done?
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if (distRest_m <= 0) {return next;}
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// another round..
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return walk(grid, next, distRest_m, headChange);
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}
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};
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#endif // GRIDWALKRANDOMHEADINGUPDATE_H
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