Step Type Query

[coliem]

Closes #65

• Updated CMake to disable C# and added a new build Debug-C.
• Implemented C++ methods to query and store all the step types of a given graph (accomplished using C++ functions CalculateStepType and 'CalculateAndStoreStepType' in graph_utils).
• C_Interface function CalculateAndStoreStepTypes call the previously mentioned C++ methods, also storing all the step types in the given graph.
• Python/C CalculateAndStoreStepTypes calls the new C_Interface function to query the step types in the Python interface.
• Added UnitTests corresponding to each of these functions.
• Created overload for CheckConnection in graph_utils that removes the params parameter. This is utilized in CalculateStepType and is allowed because we know that the edges are valid after graph generation.
• Created CompareCheckConnection to test equality between the two overloads for CheckConnection. Once CalculateAndStoreStepType(s) is called, each edge step type found in the resulting std::vector<EdgeSet> is tested against the output of the corresponding step type given by CheckConnection with the params parameter. This function's purpose was to simplify the appropriate UnitTests.

Attached is a screenshot of all the VS test cases (including three new test cases for the C++ and C_Interface functions, with the exception of HFUnitTests/CInterfaceTests/C_Pathfinder/CreateManyPathsPerformanceTest due to runtime issues) and the test_GraphGenerator.py test cases passing.

[cadop]

I don't think these are needed, since the edge validity already exists, we only need to check what type of edge it is.

[coliem]

The step types aren't stored anywhere when the graph is generated, so I have to call

dhart/src/Cpp/analysismethods/src/graph_utils.cpp

Lines 303 to 308 in 7587a53

	HF::SpatialStructures::STEP CheckConnection(
	const real3& parent,
	const real3& child,
	RayTracer& rt,
	const GraphParams& params)
	{

which takes these parameters as input. The parameters are actively used in code blocks such as

dhart/src/Cpp/analysismethods/src/graph_utils.cpp

Lines 338 to 345 in 7587a53

	if (parent[2] > child[2])
	{
	node1 = child;
	node2 = parent;
	node1[2] = node1[2] + params.down_step;
	node2[2] = node2[2] + GROUND_OFFSET;
	s = STEP::DOWN;
	}

The workaround I had for this was using default values for these parameters corresponding the the default values in the GraphGenerator

    up_step: float = 0.197,
    up_slope: float = 20,
    down_step: float = 0.197,
    down_slope: float = 20,
    ground_offset: float = 0.01,
    node_z: float = 0.0001,
    node_spacing: float = 0.00001

[coliem]

Disregard my previous comment, I can remove the parameters.

[coliem]

I removed the unnecessary parameters and replaced the corresponding UnitTests with more complex ones. My initial PR is updated with any new functions I made.

[cadop]

plane is probably not the best mesh to test with since it has no steps

[cadop]

try to make the graph steps work with obstacle_vistestcase.obj

[cadop]

the documentation needs to clarify what "3" means (i.e. the mapping)