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added fixed interval smoothing

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toni
2016-03-17 19:24:45 +01:00
parent 8d2be0f8a0
commit 89bb0b8b7a
17 changed files with 1010 additions and 137 deletions
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3
code/eval/DebugShortestPath.h
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@@ -41,6 +41,9 @@ public:
vis.estPath.clear();
vis.particles.clear();
vis.particles.add(K::GnuplotPoint3(this->centerOfMass.x, this->centerOfMass.y, this->centerOfMass.z));
const int advance = this->stdDevDist / grid.getGridSize_cm();
const T& d = *this->path->getFromStart(advance).element;
vis.particles.add(K::GnuplotPoint3(d.x_cm, d.y_cm, d.z_cm));
for (int i = 0; i < (int)this->path->size()-1; ++i) {
const DijkstraNode<T>& dn1 = (*this->path)[i+0];
const DijkstraNode<T>& dn2 = (*this->path)[i+1];