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added missing code-changes (mainly eval)

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This commit is contained in:
FrankE
2016-03-17 17:27:08 +01:00
parent 00d3033eef
commit 4c1e73e3cf
12 changed files with 801 additions and 121 deletions
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378
code/eval/Eval1.h
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@@ -243,6 +243,10 @@ public:
}
void bergwerk_path1_nexus_simple() {
runName = "bergwerk_path1_nexus_simple";
@@ -253,11 +257,385 @@ public:
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
for (auto& n : grid) {n.imp = 1;}
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_nexus_imp() {
runName = "bergwerk_path1_nexus_importance";
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_nexus_multi() {
runName = "bergwerk_path1_nexus_multi";
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_nexus_shortest() {
runName = "bergwerk_path1_nexus_shortest";
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path2_nexus() {
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path2/nexus/vor/1454779863041.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path2/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path2/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path2dbl);
}
void bergwerk_path2_nexus_simple() {
runName = "bergwerk_path2_nexus_simple";
bergwerk_path2_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_nexus_imp() {
runName = "bergwerk_path2_nexus_importance";
bergwerk_path2_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_nexus_multi() {
runName = "bergwerk_path2_nexus_multi";
bergwerk_path2_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_nexus_shortest() {
runName = "bergwerk_path2_nexus_shortest";
bergwerk_path2_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->times = 4;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path3_nexus() {
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path3/nexus/vor/1454782562231.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path3/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path3/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path3dbl);
}
void bergwerk_path3_nexus_simple() {
runName = "bergwerk_path3_nexus_simple";
bergwerk_path3_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_nexus_imp() {
runName = "bergwerk_path3_nexus_importance";
bergwerk_path3_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_nexus_multi() {
runName = "bergwerk_path3_nexus_multi";
bergwerk_path3_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_nexus_shortest() {
runName = "bergwerk_path3_nexus_shortest";
bergwerk_path3_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path4_nexus() {
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path4/nexus/vor/1454776525797.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path4/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path4/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
//for (const K::Particle<MyState>& _p : pf->getParticles()) {
// K::Particle<MyState>& p = (K::Particle<MyState>&) _p;
// p.state.pCur = floors.gtwp[path4dbl.front()];
// p.state.pOld = p.state.pCur;
// p.state.walkState.node = grid.getNodePtrFor( conv(p.state.pCur) );
// p.state.walkState.heading = Angle::degToRad(90);
//}
}
void bergwerk_path4_nexus_simple() {
runName = "bergwerk_path4_nexus_simple";
bergwerk_path4_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_nexus_imp() {
runName = "bergwerk_path4_nexus_importance";
bergwerk_path4_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_nexus_multi() {
runName = "bergwerk_path4_nexus_multi";
bergwerk_path4_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_nexus_shortest() {
runName = "bergwerk_path4_nexus_shortest";
bergwerk_path4_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path1_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path1/galaxy/vor/1454776168794.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
}
void bergwerk_path1_galaxy_simple() {
runName = "bergwerk_path1_galaxy_simple";
bergwerk_path1_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_galaxy_multi() {
runName = "bergwerk_path1_galaxy_multi";
bergwerk_path1_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_galaxy_shortest() {
runName = "bergwerk_path1_galaxy_shortest";
bergwerk_path1_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path2_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path2/galaxy/vor/1454780113404.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path2/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path2/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path2dbl);
}
void bergwerk_path2_galaxy_simple() {
runName = "bergwerk_path2_galaxy_simple";
bergwerk_path2_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_galaxy_multi() {
runName = "bergwerk_path2_galaxy_multi";
bergwerk_path2_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_galaxy_shortest() {
runName = "bergwerk_path2_galaxy_shortest";
bergwerk_path2_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path3_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path3/galaxy/vor/1454782896548.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path3/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path3/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path3dbl);
}
void bergwerk_path3_galaxy_simple() {
runName = "bergwerk_path3_galaxy_simple";
bergwerk_path3_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_galaxy_multi() {
runName = "bergwerk_path3_galaxy_multi";
bergwerk_path3_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_galaxy_shortest() {
runName = "bergwerk_path3_galaxy_shortest";
bergwerk_path3_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path4_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path4/galaxy/vor/1454779020844.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path4/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path4/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
}
void bergwerk_path4_galaxy_simple() {
runName = "bergwerk_path4_galaxy_simple";
bergwerk_path4_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_galaxy_multi() {
runName = "bergwerk_path4_galaxy_multi";
bergwerk_path4_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_galaxy_shortest() {
runName = "bergwerk_path4_galaxy_shortest";
bergwerk_path4_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
//walk->times = 2;
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
};