initial commit before ownership transfer

code/toni/BarometerEvaluation.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include "../particles/MyState.h"
+#include "BarometerObservation.h"
+#include "barometric.h"
+#include <KLib/math/distribution/Normal.h>
+
+double g_BarometerObservation = 0.0;
+
+class BarometerEvaluation {
+
+public:
+
+	double getProbability(const MyState& state, const BarometerObservation* obs) const {
+
+        //rho_z
+        double barometerSigma = 0.3;
+
+        //The height of the single floor levels.
+        const static double floor_height[3] = {4.1, 3.4, 3.4};
+
+        if(USE_BAROMETRIC_FORMULAR){
+            //height the particle has climbed.
+            double h_1 = 0.0;
+            for(int i = std::min(state.z_nr_old, state.z_nr); i < std::max(state.z_nr_old, state.z_nr); i++){
+               h_1 += floor_height[i];
+            }
+
+            if(h_1 != 0.0){
+                // use the barometric formular to calculate the relative pressure
+                // the calculation is done assuming sea level height at every floor.
+                double mslp = BarometricFormular::s_getSeaLevelPressure();
+                double pressure = BarometricFormular::s_getAtmosphericPressure(h_1, 297.0);
+                barometerSigma = std::abs(mslp - pressure);
+            }
+
+        }
+        else {
+            // constant value for sigma if we assume all floors are same in height
+            barometerSigma = 0.30 / 1.0; //hPa
+        }
+
+        // evaluate the current particle with a normal distribution
+		const double barometerProbability = K::NormalDistribution::getProbability(state.hPa, barometerSigma/2, obs->hpa);
+
+        //Just for the visualization. i'm a lazy bastard
+        g_BarometerObservation = obs->hpa;
+
+        assert(barometerProbability == barometerProbability);
+        assert(state.hPa == state.hPa);
+        assert(obs->hpa == obs->hpa);
+
+        //std::cout << barometerProbability << std::endl;
+
+        return  pow(2.0, barometerProbability);
+        //return  barometerProbability;
+    }
+};