added nav-mesh support via demo

navMesh/main.h

@@ -0,0 +1,94 @@
+#ifndef NAV_MESH_MAIN_H
+#define NAV_MESH_MAIN_H
+
+#include "mesh.h"
+#include "filter.h"
+#include <memory>
+#include <thread>
+#include <Indoor/floorplan/v2/FloorplanReader.h>
+
+void navMeshMain() {
+
+	std::string mapFile = "/apps/paper/diss/data/maps/museum31.xml";
+
+	Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(mapFile);
+
+	NM::NavMeshSettings set;
+	MyNavMesh mesh;
+	MyNavMeshFactory fac(&mesh, set);
+	fac.build(map);
+
+	const Point3 src(26, 43, 7.5);
+
+	// add shortest-path to destination
+	//const Point3 dst(51, 45, 1.7);
+	const Point3 dst(25, 45, 0);
+	NM::NavMeshDijkstra::stamp<MyNavMeshTriangle>(mesh, dst);
+
+	// debug show
+	NM::NavMeshDebug dbg;
+	dbg.addMesh(mesh);
+	//dbg.addDijkstra(mesh);
+	dbg.draw();
+
+	// particle-filter
+	const int numParticles = 1000;
+	auto init = std::make_unique<MyPFInitFixed>(&mesh, src);	// known position
+	//auto init = std::make_unique<MyPFInitUniform>(&mesh);		// uniform distribution
+	auto eval = std::make_unique<MyPFEval>();
+	auto trans = std::make_unique<MyPFTrans>(mesh);
+	auto resample = std::make_unique<K::ParticleFilterResamplingSimple<MyState>>();
+	auto estimate = std::make_unique<K::ParticleFilterEstimationWeightedAverage<MyState>>();
+
+	// setup
+	MyFilter pf(numParticles, std::move(init));
+	pf.setEvaluation(std::move(eval));
+	pf.setTransition(std::move(trans));
+	pf.setResampling(std::move(resample));
+	pf.setEstimation(std::move(estimate));
+	pf.setNEffThreshold(1);
+
+
+	MyControl ctrl;
+	MyObservation obs;
+
+	//Distribution::Uniform<float> dHead(0, 2*M_PI);
+	Distribution::Normal<float> dHead(0, 0.1);
+
+	for (int i = 0; i < 10000; ++i) {
+
+		ctrl.numStepsSinceLastEval = 1;
+		ctrl.headingChangeSinceLastEval = dHead.draw();
+
+		MyState est = pf.update(&ctrl, obs);
+
+		ctrl.afterEval();
+
+		try {
+			MyNavMeshLocation loc = mesh.getLocationNearestTo(est.pos.pos);
+			auto path = loc.tria->getPathToDestination<MyNavMeshTriangle>(loc.pos);
+			dbg.addDijkstra(path);
+		} catch (...) {;}
+
+		const int d = (i * 1) % 360;
+		dbg.plot.getView().setCamera(60, d);
+		dbg.showParticles(pf.getParticles());
+		dbg.setCurPos(est.pos.pos);
+
+		//dbg.gp.setOutput("/tmp/123/" + std::to_string(i) + ".png");
+		//dbg.gp.setTerminal("pngcairo", K::GnuplotSize(60, 30));
+
+		std::cout << i << std::endl;
+
+		dbg.draw();
+
+
+
+		std::this_thread::sleep_for(std::chrono::milliseconds(5));
+
+	}
+
+
+}
+
+#endif