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changed some GFX

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fixed some TeX issues
This commit is contained in:
FrankE
2016-02-21 21:05:34 +01:00
parent 3fd0db82fe
commit 44504f0a59
16 changed files with 223513 additions and 76119 deletions
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6
tex/chapters/experiments.tex
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@@ -62,7 +62,9 @@
\input{gfx/eval/paths} \input{gfx/eval/paths}
\caption{The four paths that were part of the evaluation. \caption{The four paths that were part of the evaluation.
Starting positions are marked with black circles. Starting positions are marked with black circles.
For a better visualisation they were slightly shifted to avoid overlapping.} For a better visualisation they were slightly shifted to avoid overlapping.
\commentByFrank{font war korrekt, aber die groesse war zu gross im vgl. zu den anderen}
}
\label{fig:paths} \label{fig:paths}
\end{figure} \end{figure}
% error development over time while walking along a path % error development over time while walking along a path
@@ -105,7 +107,7 @@
% %
Directly hereafter, we ignore the shortest path \refSeg{3'} determined by the system and walk along \refSeg{3} Directly hereafter, we ignore the shortest path \refSeg{3'} determined by the system and walk along \refSeg{3}
instead. Of course, this leads to a temporally increasing error, as the system needs to detect this path change instead. Of course, this leads to a temporally increasing error, as the system needs to detect this path change
and takes some time to recover (see fig. \ref{fig:errorDistNexus} \refSeg{3}). The new path to the desired destination and takes some time to recover (see fig. \ref{fig:errorTimedNexus} \refSeg{3}). The new path to the desired destination
is \refSeg{3''} which is also ignored. Instead, we took a much longer route down the stairwell \refSeg{4}. is \refSeg{3''} which is also ignored. Instead, we took a much longer route down the stairwell \refSeg{4}.
After this change is detected by the system, prior knowledge is again able to reduce the error for segment \refSeg{5}. After this change is detected by the system, prior knowledge is again able to reduce the error for segment \refSeg{5}.
% %

49
tex/chapters/grid.tex
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@@ -33,8 +33,10 @@
To reduce the system's memory footprint, we search for the largest connected region within the graph and To reduce the system's memory footprint, we search for the largest connected region within the graph and
remove all nodes and edges that are not connected to this region. remove all nodes and edges that are not connected to this region.
New states $\mStateVec_{t}$ may now be sampled by starting at the vertex for $\fPos{\mStateVec_{t-1}}$ and New states $\mStateVec_{t}$ may now be sampled by starting at the vertex for
walking along adjacent nodes into a given walking-direction $\gHead$ until a distance $\gDist$ is position $\fPos{\mStateVec_{t-1}} = (x,y,z)^T$
\commentByFrank{eingefuehrt}
and walking along adjacent nodes into a given walking-direction $\gHead$ until a distance $\gDist$ is
reached \cite{Ebner-15}. reached \cite{Ebner-15}.
Both, heading and distance, are supplied by the current sensor readings $\mObsVec_{t}$ Both, heading and distance, are supplied by the current sensor readings $\mObsVec_{t}$
and thus reflect the pedestrian's real heading and walking speed including uncertainty. and thus reflect the pedestrian's real heading and walking speed including uncertainty.
@@ -45,12 +47,14 @@
\gDist &= \mObs_t^{\mObsSteps} \cdot \SI{0.7}{\meter} + \mathcal{N}(0, \sigma_{\gDist}^2) \gDist &= \mObs_t^{\mObsSteps} \cdot \SI{0.7}{\meter} + \mathcal{N}(0, \sigma_{\gDist}^2)
. .
\end{align} \end{align}
\commentByFrank{fixed. war das falsche makro in (2) und dem satz darunter. das delta musste weg. der state hat ein absolutes heading}
% %
During the random walk, each edge has its own probability $p(e)$ During the random walk, each edge has its own probability $p(e)$
which e.g. depends on the edge's direction $\angle e$ and the which e.g. depends on the edge's direction $\angle e$ and the
pedestrian's current heading $\gHead$. pedestrian's current heading $\gHead$.
Furthermore, $p(e)$ is used to incorporate prior path knowledge to Furthermore, section \ref{sec:nav} uses $p(e)$ to incorporate prior path knowledge to
favour edges leading towards the pedestrian's desired target. favour edges leading towards the pedestrian's desired target $\mTarget$.
\commentByFrank{fixed}
For each single movement on the graph, we calculate $p(e)$ for all edges For each single movement on the graph, we calculate $p(e)$ for all edges
connected to a vertex $v$, and, hereafter, randomly draw the to-be-walked edge connected to a vertex $v$, and, hereafter, randomly draw the to-be-walked edge
@@ -73,6 +77,7 @@
\section{Navigational Knowledge} \section{Navigational Knowledge}
\label{sec:nav}
Considering navigation, a pedestrian wants to reach a well-known destination which represents additional Considering navigation, a pedestrian wants to reach a well-known destination which represents additional
prior knowledge. Most probably, the user will stick to the path presented by prior knowledge. Most probably, the user will stick to the path presented by
@@ -85,10 +90,10 @@
As discussed in section \ref{sec:relatedWork}, simply applying a shortest-path algorithm such as Dijkstra or As discussed in section \ref{sec:relatedWork}, simply applying a shortest-path algorithm such as Dijkstra or
A* using the previously created graph would obviously lead to non-realistic paths sticking to walls and A* using the previously created graph would obviously lead to non-realistic paths sticking to walls and
walking many diagonals. Pedestrian's however, will probably keep a small gap between themselves and walking many diagonals. Pedestrians however, will probably keep a small gap between themselves and
nearby walls. To calculate paths that resemble this behaviour, an importance-factor is derived for nearby walls. To calculate paths that resemble this behaviour, an importance-factor is derived for
each vertex. Those will be used to modify the distance $\fDistance{u}{v}$ between two vertices each vertex. Those will be used to modify the weight $\fDistance{v}{v'}$ between two vertices
$u,v$, examined by the shortest-path algorithm. $v,v'$, examined by the shortest-path algorithm.
To downvote vertices near walls, we need to determine the distance of each vertex from its nearest wall. To downvote vertices near walls, we need to determine the distance of each vertex from its nearest wall.
We therefore derive an inverted version $G' = (V', E')$ of the graph $G$, just describing walls and We therefore derive an inverted version $G' = (V', E')$ of the graph $G$, just describing walls and
@@ -137,7 +142,8 @@
\varphi = \fPos{v_i}-\vec{c} \enskip. \varphi = \fPos{v_i}-\vec{c} \enskip.
\end{equation} \end{equation}
% %
For $\mat{\Sigma}$, the two largest eigenvalues $\{\lambda_1, \lambda_2 \mid \lambda_1 > \lambda_2\}$ For $\mat{\Sigma}$, the two largest eigenvalues $\lambda_1, \lambda_2$ with $\lambda_1 > \lambda_2$
\commentByFrank{fixed}
are calculated. If their ratio $^{\lambda_1}/_{\lambda_2}$ is above a certain are calculated. If their ratio $^{\lambda_1}/_{\lambda_2}$ is above a certain
threshold, the neighbourhood describes a flat ellipse and thus either a door or a straight wall. threshold, the neighbourhood describes a flat ellipse and thus either a door or a straight wall.
% %
@@ -180,7 +186,8 @@
door-regions higher values, depicted in fig. \ref{fig:importance}. door-regions higher values, depicted in fig. \ref{fig:importance}.
% %
\begin{figure} \begin{figure}
\includegraphics[width=\columnwidth]{floorplan_importance} %\includegraphics[width=\columnwidth]{floorplan_importance}
\input{gfx/floorplan_importance}
\caption{The calculated importance-factor \refeq{eq:finalImp} for each vertex. \caption{The calculated importance-factor \refeq{eq:finalImp} for each vertex.
While the dark wall-elements denote a small importance, the yellow areas around doors and narrow While the dark wall-elements denote a small importance, the yellow areas around doors and narrow
passages depict a high importance.} passages depict a high importance.}
@@ -247,15 +254,16 @@
% %
This centre serves as the starting point for the shortest-path calculation. This centre serves as the starting point for the shortest-path calculation.
As it is not necessarily part of the grid, its nearest-grid-neighbour is determined and used instead. As it is not necessarily part of the grid, its nearest-grid-neighbour is determined and used instead.
This vertex is located somewhere within the sample-set and already knows the way to the pedestrian's destination. This vertex is located somewhere within the sample-set and already knows the way to the pedestrian's
destination $\mTarget$.
% %
As new states $\mStateVec_{t}$ should approach the pedestrian's destination As new states $\mStateVec_{t}$ should approach the pedestrian's destination
we use a reference $\pathRef$ all states try to reach. This references must we use a reference $\pathRef$ all states try to reach. This references must
be both, part of the shortest path and located somewhere outside of the sample-set. be both part of the shortest path and located somewhere outside of the sample-set.
% %
We thus calculate the standard deviation of the distance of all samples from the centre We thus calculate the standard deviation of the distance of all samples from the centre
$\pathCentroid$. After advancing the starting-vertex by three times this deviation $\pathCentroid$. After advancing the starting-vertex by three times this deviation
we get a new point $\pathRef$ that is: part of the shortest path, outside of the sample-set we get the new point $\pathRef$ that is: part of the shortest path, outside of the sample-set
and closer (but not too close) to the desired destination. and closer (but not too close) to the desired destination.
% %
Hereafter, the simple transition \refeq{eq:transSimple} is combined with a second probability, Hereafter, the simple transition \refeq{eq:transSimple} is combined with a second probability,
@@ -274,7 +282,7 @@
0.1 & \text{else} 0.1 & \text{else}
\end{cases} \end{cases}
\end{split} \end{split}
. \enskip .
\label{eq:transShortestPath} \label{eq:transShortestPath}
\end{equation} \end{equation}
% %
@@ -284,7 +292,7 @@
\subsubsection{Multipath} \subsubsection{Multipath}
The shortest-path algorithm mentioned in \ref{sec:pathEstimation} already calculated the distance The shortest-path algorithm mentioned in \ref{sec:pathEstimation} already calculated the distance
$\fDistance{v}{\dot{v}}$ % = \sum_{i=s}^{e-1} \| v_{i} - v_{i+1} \| $ $\fLength{v}{\dot{v}}$ % = \sum_{i=s}^{e-1} \| v_{i} - v_{i+1} \| $
for the path from $v$ to the pedestrian's destination $\dot{v}$. for the path from $v$ to the pedestrian's destination $\dot{v}$.
We thus apply the same assumption as \refeq{eq:transShortestPath} and downvote edges We thus apply the same assumption as \refeq{eq:transShortestPath} and downvote edges
not decreasing the distance to the destination: not decreasing the distance to the destination:
@@ -296,10 +304,11 @@
\mathcal{N} (\angle e \mid \gHead, \sigma_\text{dev}^2) \cdot \alpha \\ \mathcal{N} (\angle e \mid \gHead, \sigma_\text{dev}^2) \cdot \alpha \\
\alpha &= \alpha &=
\begin{cases} \begin{cases}
0.9 & \fDistance{v'}{\dot{v}} < \fDistance{v}{\dot{v}} \\ 0.9 & \fLength{v'}{\dot{v}} < \fLength{v}{\dot{v}} \\
0.1 & \text{else} 0.1 & \text{else}
\end{cases} \end{cases}
\end{split} \end{split}
\enskip .
\label{eq:transMultiPath} \label{eq:transMultiPath}
\end{equation} \end{equation}
% %
@@ -308,11 +317,13 @@
are covered and slight deviations from the shortest version are possible. are covered and slight deviations from the shortest version are possible.
% %
\begin{figure} \begin{figure}
\includegraphics[width=\columnwidth, trim=4 8 4 4]{floorplan_dijkstra_heatmap} %\includegraphics[width=\columnwidth, trim=4 8 4 4]{floorplan_dijkstra_heatmap}
\caption{Heat-Map of visited vertices after several walks using \refeq{eq:transMultiPath} with colours \input{gfx/floorplan_dijkstra_heatmap}
from cold to hot. Both possible paths are covered and slight deviations are possible. \caption{Heat-Map showing the number of visits per vertex after $30.000$ walks using \refeq{eq:transMultiPath}.
Both possible paths are covered and slight deviations are possible.
Additionally shows the shortest-path calculation without (dashed) and with (solid) importance-factors Additionally shows the shortest-path calculation without (dashed) and with (solid) importance-factors
used for edge-weight-adjustment.} used for edge-weight-adjustment.
\commentByFrank{so besser?}}
\label{fig:multiHeatMap} \label{fig:multiHeatMap}
\end{figure} \end{figure}

11
tex/chapters/sensors.tex
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@@ -16,8 +16,10 @@
% %
\begin{figure} \begin{figure}
\include{gfx/baro/baro_setup_issue} \include{gfx/baro/baro_setup_issue}
\caption{Sometimes the barometer provides erroneous \SI{}{\hpa} readings during the first seconds. Those \caption{Sometimes the smartphone's barometer (here: Motorola Nexus 6) provides erroneous pressure readings
need to be omitted before $\sigma_\text{baro}$ and $\overline{\mObsPressure}$ are estimated.} during the first seconds. Those need to be omitted before $\sigma_\text{baro}$ and
$\overline{\mObsPressure}$ are estimated.
\commentByFrank{fixed}}
\label{fig:baroSetupError} \label{fig:baroSetupError}
\end{figure} \end{figure}
% %
@@ -49,7 +51,7 @@
\subsection{Wi-Fi \& iBeacons} \subsection{Wi-Fi \& iBeacons}
Additional absolute location hints, are provided by the smartphone's \docWIFI{} and \docIBeacon{} component, Additional absolute location hints are provided by the smartphone's \docWIFI{} and \docIBeacon{} component,
measuring the signal-strengths of nearby transmitters. As the positions of both \docAP{}s and \docIBeacon{}s measuring the signal-strengths of nearby transmitters. As the positions of both \docAP{}s and \docIBeacon{}s
are known beforehand, we compare each measurement with its corresponding signal strength prediction using are known beforehand, we compare each measurement with its corresponding signal strength prediction using
the wall-attenuation-factor model \cite{Ebner-15}. This prediction depends on the 3D distance $d$ from the the wall-attenuation-factor model \cite{Ebner-15}. This prediction depends on the 3D distance $d$ from the
@@ -89,7 +91,8 @@
impoverishment due to a small measurement noise. This happens since accurate observations result in high peaks impoverishment due to a small measurement noise. This happens since accurate observations result in high peaks
of the evaluation density and therefore the proposal density is not able to sample outside that peak \cite{Isard98:CCD}. of the evaluation density and therefore the proposal density is not able to sample outside that peak \cite{Isard98:CCD}.
Additionally, erroneous or delayed measurements from absolute positioning sensors like \docWIFI{} may lead to misplaced turns. Additionally, erroneous or delayed measurements from absolute positioning sensors like \docWIFI{} may lead to misplaced turns.
This causes a downvoting of particles with increased heading deviation. This causes a downvoting of all states $\mStateVec_t$ with increased heading deviation.
\commentByFrank{so besser?: downvoting of states statt particles}
Therefore, we incorporate the turn-detection, as well as the related step-detection, directly into the state transition Therefore, we incorporate the turn-detection, as well as the related step-detection, directly into the state transition
$p(\mStateVec_{t} \mid \mStateVec_{t-1}, \mObsVec_{t-1})$, which leads to a more directed sampling instead of a truly random one. $p(\mStateVec_{t} \mid \mStateVec_{t-1}, \mObsVec_{t-1})$, which leads to a more directed sampling instead of a truly random one.

6
tex/chapters/system.tex
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@@ -17,11 +17,11 @@
where $\mObsVec_{1:t} = \mObsVec_{1}, \mObsVec_{1}, ..., \mObsVec_{t}$ is a series of observations up to time $t$. where $\mObsVec_{1:t} = \mObsVec_{1}, \mObsVec_{1}, ..., \mObsVec_{t}$ is a series of observations up to time $t$.
The hidden state $\mStateVec$ is given by The hidden state $\mStateVec$ is given by
\begin{equation} \begin{equation}
\mStateVec = (x, y, z, \mObsHeading, \mStatePressure),\enskip \mStateVec = (x, y, z, \mStateHeading, \mStatePressure),\enskip
x, y, z, \mObsHeading, \mStatePressure \in \R \enspace, x, y, z, \mStateHeading, \mStatePressure \in \R \enspace,
\end{equation} \end{equation}
% %
where $x, y, z$ represent the position in 3D space, $\mObsHeading$ the user's heading and $\mStatePressure$ the where $x, y, z$ represent the position in 3D space, $\mStateHeading$ the user's heading and $\mStatePressure$ the
relative atmospheric pressure prediction in hectopascal (hPa). relative atmospheric pressure prediction in hectopascal (hPa).
The recursive part of the density estimation contains all information up to time $t-1$. The recursive part of the density estimation contains all information up to time $t-1$.
Furthermore, the state transition models the pedestrian's movement as described in section \ref{sec:trans}. Furthermore, the state transition models the pedestrian's movement as described in section \ref{sec:trans}.

2668
tex/gfx/baro/baro_setup_issue.eps
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File diff suppressed because it is too large Load Diff

4
tex/gfx/baro/baro_setup_issue.gp
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@@ -7,7 +7,7 @@ set yrange[980.5:981.5]
set xrange[0:50] set xrange[0:50]
set ytics 980.5, 0.2, 981.5 set ytics 980.5, 0.2, 981.5
set lmargin 4.5 set lmargin 6.0
set rmargin 1.0 set rmargin 1.0
set tmargin 0.5 set tmargin 0.5
set bmargin 0.1 set bmargin 0.1
@@ -17,7 +17,7 @@ set bmargin 0.1
set xtics nomirror set xtics nomirror
set ytics nomirror set ytics nomirror
set format y "\\footnotesize{\\SI{%.1f}{}}" set format y "\\footnotesize{\\SI{%.1f}{\\hpa}}"
set format x "\\footnotesize{\\SI{%.0f}{\\second}}" set format x "\\footnotesize{\\SI{%.0f}{\\second}}"
set object 1 rectangle from 0,980.5 to 4.000,981.5 fs solid noborder fc rgb "#EEEEEE" behind set object 1 rectangle from 0,980.5 to 4.000,981.5 fs solid noborder fc rgb "#EEEEEE" behind

30
tex/gfx/baro/baro_setup_issue.tex
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@@ -82,25 +82,25 @@
\begin{picture}(5040.00,2014.00)% \begin{picture}(5040.00,2014.00)%
\gplgaddtomacro\gplbacktext{% \gplgaddtomacro\gplbacktext{%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(462,22){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{980.5}{}}}}% \put(660,22){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{980.5}{\hpa}}}}%
\put(462,398){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{980.7}{}}}}% \put(660,398){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{980.7}{\hpa}}}}%
\put(462,774){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{980.9}{}}}}% \put(660,774){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{980.9}{\hpa}}}}%
\put(462,1151){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{981.1}{}}}}% \put(660,1151){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{981.1}{\hpa}}}}%
\put(462,1527){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{981.3}{}}}}% \put(660,1527){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{981.3}{\hpa}}}}%
\put(462,1903){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{981.5}{}}}}% \put(660,1903){\makebox(0,0)[r]{\strut{}\footnotesize{\SI{981.5}{\hpa}}}}%
\put(594,-198){\makebox(0,0){\strut{}\footnotesize{\SI{0}{\second}}}}% \put(792,-198){\makebox(0,0){\strut{}\footnotesize{\SI{0}{\second}}}}%
\put(1457,-198){\makebox(0,0){\strut{}\footnotesize{\SI{10}{\second}}}}% \put(1615,-198){\makebox(0,0){\strut{}\footnotesize{\SI{10}{\second}}}}%
\put(2319,-198){\makebox(0,0){\strut{}\footnotesize{\SI{20}{\second}}}}% \put(2438,-198){\makebox(0,0){\strut{}\footnotesize{\SI{20}{\second}}}}%
\put(3182,-198){\makebox(0,0){\strut{}\footnotesize{\SI{30}{\second}}}}% \put(3261,-198){\makebox(0,0){\strut{}\footnotesize{\SI{30}{\second}}}}%
\put(4044,-198){\makebox(0,0){\strut{}\footnotesize{\SI{40}{\second}}}}% \put(4084,-198){\makebox(0,0){\strut{}\footnotesize{\SI{40}{\second}}}}%
\put(4907,-198){\makebox(0,0){\strut{}\footnotesize{\SI{50}{\second}}}}% \put(4907,-198){\makebox(0,0){\strut{}\footnotesize{\SI{50}{\second}}}}%
}% }%
\gplgaddtomacro\gplfronttext{% \gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(749,1790){\rotatebox{90}{\makebox(0,0)[r]{\strut{}\small{error}}}}% \put(940,1790){\rotatebox{90}{\makebox(0,0)[r]{\strut{}\small{error}}}}%
\put(1189,1790){\rotatebox{90}{\makebox(0,0)[r]{\strut{}\small{estimation}}}}% \put(1360,1790){\rotatebox{90}{\makebox(0,0)[r]{\strut{}\small{estimation}}}}%
\put(2569,1715){\makebox(0,0){\strut{}\small{walking along the hallway}}}% \put(2677,1715){\makebox(0,0){\strut{}\small{walking along the hallway}}}%
\put(4200,1715){\makebox(0,0){\strut{}\small{stair}}}% \put(4232,1715){\makebox(0,0){\strut{}\small{stair}}}%
}% }%
\gplbacktext \gplbacktext
\put(0,0){\includegraphics{baro_setup_issue}}% \put(0,0){\includegraphics{baro_setup_issue}}%

26
tex/gfx/eval/paths.eps
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@@ -1,7 +1,7 @@
%!PS-Adobe-2.0 EPSF-2.0 %!PS-Adobe-2.0 EPSF-2.0
%%Title: paths.tex %%Title: paths.tex
%%Creator: gnuplot 5.0 patchlevel 1 %%Creator: gnuplot 5.0 patchlevel 1
%%CreationDate: Tue Feb 16 19:10:12 2016 %%CreationDate: Sun Feb 21 19:48:40 2016
%%DocumentFonts: %%DocumentFonts:
%%BoundingBox: 50 50 302 230 %%BoundingBox: 50 50 302 230
%%EndComments %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
/Author (kazu) /Author (kazu)
% /Producer (gnuplot) % /Producer (gnuplot)
% /Keywords () % /Keywords ()
/CreationDate (Tue Feb 16 19:10:12 2016) /CreationDate (Sun Feb 21 19:48:40 2016)
/DOCINFO pdfmark /DOCINFO pdfmark
end end
} ifelse } ifelse
@@ -487,14 +487,14 @@ LTb
1.000 UP 1.000 UP
1.000 UL 1.000 UL
LTb LTb
156 200 N 288 200 N
0 880 V 0 880 V
1053 0 V 921 0 V
0 -880 V 0 -880 V
156 200 L -921 0 V
Z stroke Z stroke
156 1080 M 288 1080 M
1053 0 V 921 0 V
stroke stroke
LT2 LT2
LC2 setrgbcolor LC2 setrgbcolor
@@ -4607,19 +4607,19 @@ LTb
1068 3213 CircleF 1068 3213 CircleF
570 2690 CircleF 570 2690 CircleF
LCw setrgbcolor LCw setrgbcolor
1.000 156 200 1053 880 BoxColFill 1.000 288 200 921 880 BoxColFill
1.000 UL 1.000 UL
LTb LTb
LCb setrgbcolor LCb setrgbcolor
LTb LTb
156 200 N 288 200 N
0 880 V 0 880 V
1053 0 V 921 0 V
0 -880 V 0 -880 V
156 200 L -921 0 V
Z stroke Z stroke
156 1080 M 288 1080 M
1053 0 V 921 0 V
stroke stroke
LT2 LT2
LC2 setrgbcolor LC2 setrgbcolor

10
tex/gfx/eval/paths.gp
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@@ -10,7 +10,7 @@ unset border
set view 67,40 set view 67,40
unset key unset key
set key opaque box horizontal maxcols 12 at screen 0.24,0.3 width -2.5 samplen 1.0 set key opaque box horizontal maxcols 12 at screen 0.24,0.3 width -4.5 samplen 1.0
set multiplot layout 1,1 scale 2.3,2.3 offset 0,-0.030 set multiplot layout 1,1 scale 2.3,2.3 offset 0,-0.030
@@ -20,10 +20,10 @@ set zrange [-300:1600]
splot \ splot \
"data/floors.dat" with lines lc rgb "#aaaaaa" dashtype 3 notitle,\ "data/floors.dat" with lines lc rgb "#aaaaaa" dashtype 3 notitle,\
"data/path1.dat" using (column(1)+70):(column(2)-60):3 with lines lw 3.0 dashtype 3 lc rgb "#000000" title "path 1", \ "data/path1.dat" using (column(1)+70):(column(2)-60):3 with lines lw 3.0 dashtype 3 lc rgb "#000000" title "\\footnotesize{path 1}", \
"data/path2.dat" using (column(1)+60):(column(2)+60):3 with lines lw 1.5 lc rgb "#990000" title "path 2",\ "data/path2.dat" using (column(1)+60):(column(2)+60):3 with lines lw 1.5 lc rgb "#990000" title "\\footnotesize{path 2}",\
"data/path3.dat" using (column(1)-30):(column(2)+90):3 with lines lw 1.5 lc rgb "#000099" title "path 3",\ "data/path3.dat" using (column(1)-30):(column(2)+90):3 with lines lw 1.5 lc rgb "#000099" title "\\footnotesize{path 3}",\
"data/path4.dat" using (column(1)-70):(column(2)-60):3 with lines lw 1.5 lc rgb "#009900" title "path 4",\ "data/path4.dat" using (column(1)-70):(column(2)-60):3 with lines lw 1.5 lc rgb "#009900" title "\\footnotesize{path 4}",\
"data/startpoints_moved.dat" with points notitle pt 7 ps 1.0 lc rgb "#000000",\ "data/startpoints_moved.dat" with points notitle pt 7 ps 1.0 lc rgb "#000000",\

16
tex/gfx/eval/paths.tex
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@@ -84,21 +84,21 @@
}% }%
\gplgaddtomacro\gplfronttext{% \gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,970){\makebox(0,0)[r]{\strut{}path 1}}% \put(750,970){\makebox(0,0)[r]{\strut{}\footnotesize{path 1}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,750){\makebox(0,0)[r]{\strut{}path 2}}% \put(750,750){\makebox(0,0)[r]{\strut{}\footnotesize{path 2}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,530){\makebox(0,0)[r]{\strut{}path 3}}% \put(750,530){\makebox(0,0)[r]{\strut{}\footnotesize{path 3}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,310){\makebox(0,0)[r]{\strut{}path 4}}% \put(750,310){\makebox(0,0)[r]{\strut{}\footnotesize{path 4}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,970){\makebox(0,0)[r]{\strut{}path 1}}% \put(750,970){\makebox(0,0)[r]{\strut{}\footnotesize{path 1}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,750){\makebox(0,0)[r]{\strut{}path 2}}% \put(750,750){\makebox(0,0)[r]{\strut{}\footnotesize{path 2}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,530){\makebox(0,0)[r]{\strut{}path 3}}% \put(750,530){\makebox(0,0)[r]{\strut{}\footnotesize{path 3}}}%
\csname LTb\endcsname% \csname LTb\endcsname%
\put(750,310){\makebox(0,0)[r]{\strut{}path 4}}% \put(750,310){\makebox(0,0)[r]{\strut{}\footnotesize{path 4}}}%
}% }%
\gplbacktext \gplbacktext
\put(0,0){\includegraphics{paths}}% \put(0,0){\includegraphics{paths}}%

120563
tex/gfx/floorplan_dijkstra_heatmap.eps
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tex/gfx/floorplan_dijkstra_heatmap.tex Normal file
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% GNUPLOT: LaTeX picture with Postscript
\begingroup
\makeatletter
\providecommand\color[2][]{%
\GenericError{(gnuplot) \space\space\space\@spaces}{%
Package color not loaded in conjunction with
terminal option `colourtext'%
}{See the gnuplot documentation for explanation.%
}{Either use 'blacktext' in gnuplot or load the package
color.sty in LaTeX.}%
\renewcommand\color[2][]{}%
}%
\providecommand\includegraphics[2][]{%
\GenericError{(gnuplot) \space\space\space\@spaces}{%
Package graphicx or graphics not loaded%
}{See the gnuplot documentation for explanation.%
}{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}%
\renewcommand\includegraphics[2][]{}%
}%
\providecommand\rotatebox[2]{#2}%
\@ifundefined{ifGPcolor}{%
\newif\ifGPcolor
\GPcolorfalse
}{}%
\@ifundefined{ifGPblacktext}{%
\newif\ifGPblacktext
\GPblacktexttrue
}{}%
% define a \g@addto@macro without @ in the name:
\let\gplgaddtomacro\g@addto@macro
% define empty templates for all commands taking text:
\gdef\gplbacktext{}%
\gdef\gplfronttext{}%
\makeatother
\ifGPblacktext
% no textcolor at all
\def\colorrgb#1{}%
\def\colorgray#1{}%
\else
% gray or color?
\ifGPcolor
\def\colorrgb#1{\color[rgb]{#1}}%
\def\colorgray#1{\color[gray]{#1}}%
\expandafter\def\csname LTw\endcsname{\color{white}}%
\expandafter\def\csname LTb\endcsname{\color{black}}%
\expandafter\def\csname LTa\endcsname{\color{black}}%
\expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}%
\expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}%
\expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}%
\expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}%
\expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}%
\expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}%
\expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}%
\expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}%
\expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}%
\else
% gray
\def\colorrgb#1{\color{black}}%
\def\colorgray#1{\color[gray]{#1}}%
\expandafter\def\csname LTw\endcsname{\color{white}}%
\expandafter\def\csname LTb\endcsname{\color{black}}%
\expandafter\def\csname LTa\endcsname{\color{black}}%
\expandafter\def\csname LT0\endcsname{\color{black}}%
\expandafter\def\csname LT1\endcsname{\color{black}}%
\expandafter\def\csname LT2\endcsname{\color{black}}%
\expandafter\def\csname LT3\endcsname{\color{black}}%
\expandafter\def\csname LT4\endcsname{\color{black}}%
\expandafter\def\csname LT5\endcsname{\color{black}}%
\expandafter\def\csname LT6\endcsname{\color{black}}%
\expandafter\def\csname LT7\endcsname{\color{black}}%
\expandafter\def\csname LT8\endcsname{\color{black}}%
\fi
\fi
\setlength{\unitlength}{0.0500bp}%
\ifx\gptboxheight\undefined%
\newlength{\gptboxheight}%
\newlength{\gptboxwidth}%
\newsavebox{\gptboxtext}%
\fi%
\setlength{\fboxrule}{0.5pt}%
\setlength{\fboxsep}{1pt}%
\begin{picture}(5040.00,1872.00)%
\gplgaddtomacro\gplbacktext{%
\csname LTb\endcsname%
\put(-132,103){\makebox(0,0)[r]{\strut{} }}%
\put(-132,499){\makebox(0,0)[r]{\strut{} }}%
\put(-132,896){\makebox(0,0)[r]{\strut{} }}%
\put(-132,1292){\makebox(0,0)[r]{\strut{} }}%
\put(-132,1689){\makebox(0,0)[r]{\strut{} }}%
\put(0,-117){\makebox(0,0){\strut{} }}%
\put(793,-117){\makebox(0,0){\strut{} }}%
\put(1586,-117){\makebox(0,0){\strut{} }}%
\put(2379,-117){\makebox(0,0){\strut{} }}%
\put(3172,-117){\makebox(0,0){\strut{} }}%
\put(3965,-117){\makebox(0,0){\strut{} }}%
}%
\gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname%
\put(4580,103){\makebox(0,0)[l]{\strut{}\footnotesize{0}}}%
\put(4580,340){\makebox(0,0)[l]{\strut{}\footnotesize{1000}}}%
\put(4580,578){\makebox(0,0)[l]{\strut{}\footnotesize{2000}}}%
\put(4580,816){\makebox(0,0)[l]{\strut{}\footnotesize{3000}}}%
\put(4580,1054){\makebox(0,0)[l]{\strut{}\footnotesize{4000}}}%
\put(4580,1292){\makebox(0,0)[l]{\strut{}\footnotesize{5000}}}%
\put(4580,1530){\makebox(0,0)[l]{\strut{}\footnotesize{6000}}}%
\put(4580,1768){\makebox(0,0)[l]{\strut{}\footnotesize{7000}}}%
}%
\gplbacktext
\put(0,0){\includegraphics{floorplan_dijkstra_heatmap}}%
\gplfronttext
\end{picture}%
\endgroup

153564
tex/gfx/floorplan_importance.eps
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tex/gfx/floorplan_importance.gp Normal file
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tex/gfx/floorplan_importance.tex Normal file
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@@ -0,0 +1,109 @@
% GNUPLOT: LaTeX picture with Postscript
\begingroup
\makeatletter
\providecommand\color[2][]{%
\GenericError{(gnuplot) \space\space\space\@spaces}{%
Package color not loaded in conjunction with
terminal option `colourtext'%
}{See the gnuplot documentation for explanation.%
}{Either use 'blacktext' in gnuplot or load the package
color.sty in LaTeX.}%
\renewcommand\color[2][]{}%
}%
\providecommand\includegraphics[2][]{%
\GenericError{(gnuplot) \space\space\space\@spaces}{%
Package graphicx or graphics not loaded%
}{See the gnuplot documentation for explanation.%
}{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}%
\renewcommand\includegraphics[2][]{}%
}%
\providecommand\rotatebox[2]{#2}%
\@ifundefined{ifGPcolor}{%
\newif\ifGPcolor
\GPcolortrue
}{}%
\@ifundefined{ifGPblacktext}{%
\newif\ifGPblacktext
\GPblacktexttrue
}{}%
% define a \g@addto@macro without @ in the name:
\let\gplgaddtomacro\g@addto@macro
% define empty templates for all commands taking text:
\gdef\gplbacktext{}%
\gdef\gplfronttext{}%
\makeatother
\ifGPblacktext
% no textcolor at all
\def\colorrgb#1{}%
\def\colorgray#1{}%
\else
% gray or color?
\ifGPcolor
\def\colorrgb#1{\color[rgb]{#1}}%
\def\colorgray#1{\color[gray]{#1}}%
\expandafter\def\csname LTw\endcsname{\color{white}}%
\expandafter\def\csname LTb\endcsname{\color{black}}%
\expandafter\def\csname LTa\endcsname{\color{black}}%
\expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}%
\expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}%
\expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}%
\expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}%
\expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}%
\expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}%
\expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}%
\expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}%
\expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}%
\else
% gray
\def\colorrgb#1{\color{black}}%
\def\colorgray#1{\color[gray]{#1}}%
\expandafter\def\csname LTw\endcsname{\color{white}}%
\expandafter\def\csname LTb\endcsname{\color{black}}%
\expandafter\def\csname LTa\endcsname{\color{black}}%
\expandafter\def\csname LT0\endcsname{\color{black}}%
\expandafter\def\csname LT1\endcsname{\color{black}}%
\expandafter\def\csname LT2\endcsname{\color{black}}%
\expandafter\def\csname LT3\endcsname{\color{black}}%
\expandafter\def\csname LT4\endcsname{\color{black}}%
\expandafter\def\csname LT5\endcsname{\color{black}}%
\expandafter\def\csname LT6\endcsname{\color{black}}%
\expandafter\def\csname LT7\endcsname{\color{black}}%
\expandafter\def\csname LT8\endcsname{\color{black}}%
\fi
\fi
\setlength{\unitlength}{0.0500bp}%
\ifx\gptboxheight\undefined%
\newlength{\gptboxheight}%
\newlength{\gptboxwidth}%
\newsavebox{\gptboxtext}%
\fi%
\setlength{\fboxrule}{0.5pt}%
\setlength{\fboxsep}{1pt}%
\begin{picture}(5182.00,1872.00)%
\gplgaddtomacro\gplbacktext{%
\csname LTb\endcsname%
\put(-132,57){\makebox(0,0)[r]{\strut{} }}%
\put(-132,475){\makebox(0,0)[r]{\strut{} }}%
\put(-132,894){\makebox(0,0)[r]{\strut{} }}%
\put(-132,1312){\makebox(0,0)[r]{\strut{} }}%
\put(-132,1730){\makebox(0,0)[r]{\strut{} }}%
\put(0,-163){\makebox(0,0){\strut{} }}%
\put(836,-163){\makebox(0,0){\strut{} }}%
\put(1673,-163){\makebox(0,0){\strut{} }}%
\put(2509,-163){\makebox(0,0){\strut{} }}%
\put(3346,-163){\makebox(0,0){\strut{} }}%
\put(4182,-163){\makebox(0,0){\strut{} }}%
}%
\gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname%
\put(4718,290){\makebox(0,0)[l]{\strut{}\footnotesize{0.4}}}%
\put(4718,632){\makebox(0,0)[l]{\strut{}\footnotesize{0.6}}}%
\put(4718,974){\makebox(0,0)[l]{\strut{}\footnotesize{0.8}}}%
\put(4718,1316){\makebox(0,0)[l]{\strut{}\footnotesize{1.0}}}%
\put(4718,1658){\makebox(0,0)[l]{\strut{}\footnotesize{1.2}}}%
}%
\gplbacktext
\put(0,0){\includegraphics{floorplan_importance}}%
\gplfronttext
\end{picture}%
\endgroup

4
tex/misc/functions.tex
View File

@@ -47,7 +47,9 @@
\newcommand{\fDD}[1]{\text{dd}(#1)} \newcommand{\fDD}[1]{\text{dd}(#1)}
\newcommand{\fImp}[1]{\text{imp}(#1)} \newcommand{\fImp}[1]{\text{imp}(#1)}
\newcommand{\fNN}[2]{\text{nn}(#1, #2)} \newcommand{\fNN}[2]{\text{nn}(#1, #2)}
\newcommand{\fLength}[2]{\text{length}(#1, #2)} \newcommand{\fLength}[2]{\text{d}(#1, #2)}
\newcommand{\mTarget}{\dot{v}}
%\newcommand{\docIBeacon}{iBeacon} %\newcommand{\docIBeacon}{iBeacon}