FrankE
d283d9b326
new grid walkers + fixes new test-cases worked on step/and turn detection android offline-data-reader worked on vap-grouping
110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
#ifndef WALKMODULEHEADINGCONTROL_H
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#define WALKMODULEHEADINGCONTROL_H
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#include "WalkModule.h"
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#include "WalkStateHeading.h"
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#include "../../../../geo/Heading.h"
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#include "../../../../math/Distributions.h"
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/** keep the state's heading */
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template <typename Node, typename WalkState, typename Control> class WalkModuleHeadingControl : public WalkModule<Node, WalkState> {
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private:
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/** CURRENTLY NOT USED van-Mises distribution */
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Distribution::LUT<double> dist;
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/** random noise */
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Distribution::Normal<float> distNoise;
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Control* ctrl;
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//std::unordered_map<WalkState*, float> errorTracker;
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public:
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/** ctor 3.0 should be OK! */
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WalkModuleHeadingControl(Control* ctrl, const float sensorNoiseDegreesSigma) :
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dist(Distribution::VonMises<double>(0.0f, 2.0).getLUT()),
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distNoise(0, Angle::degToRad(sensorNoiseDegreesSigma)),
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ctrl(ctrl) {
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;
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}
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virtual void updateBefore(WalkState& state) override {
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// NOTE: ctrl->turnAngle is cumulative SINCE the last transition!
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// reset this one after every transition!
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Assert::isBetween(ctrl->turnAngle, -3.0f, +3.0f, "the given turn angle is too high to make sense.. did you forget to set ctrl->turnAngle = 0 after each transition?");
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// sensor noise
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const float var = distNoise.draw();
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// adjust the state's heading using the control-data
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state.heading.direction += ctrl->turnAngle + var;
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}
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virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
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(void) state;
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(void) startNode;
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(void) endNode;
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}
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virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
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(void) state;
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// get the heading denoted by the way from curNode to nextNode
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const Heading head(curNode.x_cm, curNode.y_cm, nextNode.x_cm, nextNode.y_cm);
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// get the heading requested by the state
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const Heading stateHead = state.heading.direction;
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// get the error (signed difference) between both
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const float angularDiff = stateHead.getSignedDiff(head);
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// adjust the error.
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// note: the error may get > +/- 2PI but this is not an issue!
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// when the error is added to the current heading within getProbability(),
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// it is ensured their sum is within [0:2pi]
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state.heading.error += angularDiff;
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}
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double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
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(void) startNode;
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// get the heading between curNode and potentialNode
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const Heading head(curNode.x_cm, curNode.y_cm, potentialNode.x_cm, potentialNode.y_cm);
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// compare the heading against the state's heading - the last error
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const Heading stateHead = state.heading.direction + state.heading.error;
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// get the difference
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const float angularDiff = head.getDiffHalfRAD(stateHead);
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if (angularDiff > Angle::degToRad(135)) {return 0.01;}
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if (angularDiff > Angle::degToRad(90)) {return 0.02;}
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if (angularDiff > Angle::degToRad(45)) {return 0.07;}
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{return 0.90;}
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// add error to allow stronger deviation with respect to the "BIG GLOBAL SCOPE"
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// determine probability
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const float prob = dist.getProbability(angularDiff);
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return prob;
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}
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};
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#endif // WALKMODULEHEADINGCONTROL_H
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