began putting everything together

2016-01-28 21:49:36 +01:00
parent 07d739ebb7
commit 41713a5d47
30 changed files with 1446 additions and 279 deletions
--- a/code/eval/Eval.h
+++ b/code/eval/Eval.h
@@ -0,0 +1,66 @@
+#ifndef EVAL_H
+#define EVAL_H
+
+#include "EvalBase.h"
+#include "../DijkstraMapper.h"
+#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
+#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
+#include <Indoor/grid/walk/GridWalkPushForward.h>
+#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
+#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
+#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
+
+class Eval : public EvalBase {
+
+public:
+
+
+
+	Eval() {
+
+
+		pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
+
+		MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
+		MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
+
+		//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
+		//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
+		//GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
+		GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
+
+		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
+
+		sr = new SensorReader("./measurements/13/Galaxy/Path2/1433588396094.csv");
+		srt = new SensorReaderTurn("./measurements/13/Galaxy/Path2/Turns.txt");
+		srs = new SensorReaderStep("./measurements/13/Galaxy/Path2/Steps2.txt");
+		//gtw = getGroundTruthWay(*sr, gtwp, way2);
+
+	}
+
+
+
+	void setEval1() {
+
+
+		runName = "TODO";
+
+		// the particle filter's evaluation method
+		std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
+		eval.get()->setUsage(true, false, false, false, false);
+		pf->setEvaluation( std::move(eval) );
+
+		// resampling step?
+		pf->setNEffThreshold(1.0);
+		pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
+
+		// state estimation step
+		pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
+
+	}
+
+
+
+};
+
+#endif // EVAL_H