initial commit before ownership transfer

code/lukas/StepEvaluation.h

@@ -0,0 +1,51 @@
+
+#ifndef STEPEVALUATION_H
+#define STEPEVALUATION_H
+
+
+
+#include "../particles/MyState.h"
+#include "StepObservation.h"
+#include <math.h>
+
+static double mu_walk = 40;
+static double sigma_walk = 15;
+static double mu_stop = 0;
+static double sigma_stop = 5;
+
+class StepEvaluation {
+
+public:
+
+    double getProbability(const MyState& state, const StepObservation* obs) const {
+
+        double distance = state.distanceWalkedCM;
+
+        double a = 1.0;
+	   double mu_distance = 0; //cm
+		double sigma_distance = 10.0; //cm
+
+        if(obs->step) {
+            a = 1.0;
+			mu_distance = mu_walk;//80.0; //cm
+			sigma_distance = sigma_walk;//40.0; //cm
+        }
+
+        else {
+            a = 0.0;
+			mu_distance = mu_stop; //cm
+			sigma_distance = sigma_stop; //cm
+        }
+
+        //Mixed Gaussian model: 1st Gaussian = step, 2nd Gaussian = no step
+        const double p = a * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance) +
+                        (1.0-a) * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance);
+
+        return p;
+    }
+
+};
+
+
+
+#endif // STEPEVALUATION_H