FrankE
d283d9b326
new grid walkers + fixes new test-cases worked on step/and turn detection android offline-data-reader worked on vap-grouping
63 lines
1.3 KiB
C++
63 lines
1.3 KiB
C++
#ifndef WALKMODULESPREAD_H
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#define WALKMODULESPREAD_H
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#include "WalkModule.h"
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#include "WalkStateHeading.h"
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/**
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* simply try to move away from the starting node as much as possible
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*/
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template <typename Node, typename WalkState> class WalkModuleSpread : public WalkModule<Node, WalkState> {
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private:
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Point3 avg;
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public:
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/** ctor */
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WalkModuleSpread() {
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;
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}
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virtual void updateBefore(WalkState& state) override {
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(void) state;
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avg = avg * 0.999 + state.position.inMeter() * 0.001;
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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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(void) curNode;
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(void) nextNode;
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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) state;
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(void) startNode;
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(void) curNode;
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const float dOld = avg.getDistance(curNode.inMeter());
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const float dNew = avg.getDistance(potentialNode.inMeter());
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if (dNew > dOld) {return 0.8;}
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if (curNode.z_cm != potentialNode.z_cm) {return 0.8;}
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if (dNew == dOld) {return 0.2;}
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return 0;
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}
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};
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#endif // WALKMODULESPREAD_H
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