added missing code-changes (mainly eval)

code/CMakeLists.txt

@@ -64,7 +64,7 @@ ADD_DEFINITIONS(
 	-fstack-protector-all
 
 	-g
-	-O0
+	-O2
 	-DWITH_TESTS
 	-DWITH_ASSERTIONS
 
@@ -72,6 +72,14 @@ ADD_DEFINITIONS(
 
 endif()
 
+
+# allow OMP
+find_package(OpenMP)
+if (OPENMP_FOUND)
+	set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+	set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
+
 # build a binary file
 ADD_EXECUTABLE(
 	${PROJECT_NAME}

code/DijkstraMapper.h

@@ -21,7 +21,8 @@ public:
 	float getWeightBetween(const MyGridNode& n1, const MyGridNode& n2) const {
 		float d = ((Point3)n1 - (Point3)n2).length(2) ;
 		//if (d > 20) {d*= 1.30;}
-		d /= std::pow(n2.imp, 3);
+		//d /= std::pow(n2.imp, 3);
+		d /= n2.imp;
 		return d;
 	}
 

code/Helper.h

@@ -47,8 +47,9 @@ public:
 	}
 
 	/** align the given value onto the grid */
-	static int align(const int val) {
+	template <typename T> static int align(Grid<T>& grid, const int val) {
-		return val / MiscSettings::gridSize_cm * MiscSettings::gridSize_cm;
+		volatile const float gridSize_cm = grid.getGridSize_cm();
+		return std::round(val / gridSize_cm) * gridSize_cm;
 	}
 
 	/** all floors within the building */
@@ -58,23 +59,20 @@ public:
 
 		Stairs s01, s12, s23;
 
-		const LengthF h0 = LengthF::cm(align(getHeight(0)));
+		LengthF h0, h1, h2, h3;
-		const LengthF h1 = LengthF::cm(align(getHeight(1)));
-		const LengthF h2 = LengthF::cm(align(getHeight(2)));
-		const LengthF h3 = LengthF::cm(align(getHeight(3)));
 
 		// all ground-truth points
 		std::unordered_map<int, Point3> gtwp;
 
-		FHWSFloors() {;}
+		FHWSFloors(LengthF h0, LengthF h1, LengthF h2, LengthF h3) : h0(h0), h1(h1), h2(h2), h3(h3) {;}
 
 	};
 
 	/** load the entire floorplan */
-	static FHWSFloors getFloors() {
+	template <typename T> static FHWSFloors getFloors(Grid<T>& grid) {
 
 		FloorplanFactorySVG fpFac(MiscSettings::floorplan, 2.822222);
-		FHWSFloors f;
+		FHWSFloors f(LengthF::cm(align(grid, getHeight(0))), LengthF::cm(align(grid, getHeight(1))), LengthF::cm(align(grid, getHeight(2))), LengthF::cm(align(grid, getHeight(3))));
 
 		f.f0 = fpFac.getFloor("floor_0");
 		f.f1 = fpFac.getFloor("floor_1");

code/eval/DebugShortestPath.h

@@ -41,6 +41,9 @@ public:
 			vis.estPath.clear();
 			vis.particles.clear();
 			vis.particles.add(K::GnuplotPoint3(this->centerOfMass.x, this->centerOfMass.y, this->centerOfMass.z));
+			const int advance = this->stdDevDist / grid.getGridSize_cm();
+			const T& d = *this->path->getFromStart(advance).element;
+			vis.particles.add(K::GnuplotPoint3(d.x_cm, d.y_cm, d.z_cm));
 			for (int i = 0; i < (int)this->path->size()-1; ++i) {
 				const DijkstraNode<T>& dn1 = (*this->path)[i+0];
 				const DijkstraNode<T>& dn2 = (*this->path)[i+1];

code/eval/Eval1.h

@@ -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)) );
+
+	}
+
+
 
 };
 

code/eval/EvalBase.h

@@ -29,6 +29,9 @@
 #include "../frank/BeaconSensorReader.h"
 #include "../frank/OrientationSensorReader.h"
 
+
+#include <Indoor/misc/Time.h>
+
 class EvalBase {
 
 protected:
@@ -64,9 +67,11 @@ protected:
 	std::vector<int> path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};
 	std::vector<int> path4dbl = {29, 29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};	// duplicate 1st waypoint!
 
+	float stepSize = 0.71;
+
 public:
 
-	EvalBase() : grid(MiscSettings::gridSize_cm), floors(Helper::getFloors()) {
+	EvalBase() : grid(MiscSettings::gridSize_cm), floors(Helper::getFloors(grid)) {
 
 		// build the grid
 		Helper::buildTheGrid(grid, floors);
@@ -173,9 +178,11 @@ public:
 			uint64_t lastTransitionTS = 0;
 			int64_t start_time = -1;
 
+			K::Statistics<float> statsTime;
 			K::Statistics<double> stats;
 			int cnt = 0;
 
+			std::vector<float> errors;
 
 			// process each single sensor reading
 			while(sr->hasNext()) {
@@ -225,7 +232,7 @@ public:
 				while (!step_observations.empty() && current_time > step_observations.front().ts) {
 					const StepObservation _so = step_observations.front(); step_observations.pop_front(); (void) _so;
 					obs.step->steps++;
-					ctrl.walked_m = obs.step->steps * 0.71;
+					ctrl.walked_m = obs.step->steps * stepSize;
 				}
 
 				// process all occurred steps
@@ -241,6 +248,8 @@ public:
 				// time for a transition?
 				if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
 
+					auto tick1 = Time::tick();
+
 					lastTransitionTS = se.ts;
 
 					// timed updates
@@ -252,16 +261,25 @@ public:
 					const Point3 curEst = est.pCur;
 
 					// error calculation. compare ground-truth to estimation
-					const int offset = 750;
+					const int offset = 0;
 					const Point3 curGT = gtw.getPosAtTime(se.ts - offset);
 					const Point3 diff = curEst - curGT;
 
+					auto tick2 = Time::tick();
+					float diffTime = Time::diffMS(tick1, tick2) * 1.25f;
+					statsTime.add(diffTime);
+					std::cout << "#" << statsTime.getAvg() << "\t" << diffTime << std::endl;
+
 					// skip the first 10 scans due to uniform distribution start
-					if (++cnt > 10) {
+
 					pathEst.push_back(curEst);
 					const float err = diff.length();
-					stats.add(err);
+					errors.push_back(err);
-					std::cout << stats.asString() << std::endl;
+
+					// skip the first 24 scans due to uniform distribution start (12 seconds)
+					if (++cnt > 24) {
+						stats.add(err);
+						std::cout << stats.asString() << std::endl;
 					}
 
 					// plot
@@ -287,17 +305,55 @@ public:
 					//Point2 p2 = p1 + Angle::getPointer(obs.orientation.values[0]) * 0.05;
 					vis.gp << "set arrow 999 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
 
-					vis.show();
+					static int dspCnt = 0;
-
+					if (++dspCnt > 0) {
-					// prevent gnuplot errors
+						vis.show();
-					usleep(1000*333);
+						usleep(1000*33);	// prevent gnuplot errors
+						dspCnt = 0;
+					}
 
 				}
 
-
 			}
 
-			sleep(1000);
+			// append error for each run to a file
+			std::ofstream oTError("/tmp/errors.txt", std::ios_base::app);
+			oTError << runName << "\n\t";	stats.appendTo(oTError); oTError << "\n\n";
+			oTError.close();
+
+			// detailled error-description
+			std::ofstream oError("/tmp/err_" + runName + ".dat");
+			for (float f : errors) {oError << f << "\n";}
+			oError.close();
+
+			// plot-data
+			std::ofstream oPath("/tmp/path_" + runName + ".dat");	vis.groundTruth.addDataTo(oPath); oPath.close();
+			std::ofstream oEst("/tmp/est_" + runName + ".dat");		vis.estPath.addDataTo(oEst); oEst.close();
+			std::ofstream oFloor("/tmp/floors.dat");				vis.floors.addDataTo(oFloor); oFloor.close();
+
+			std::ofstream oPlot("/tmp/plot_" + runName + ".gp");
+
+			oPlot << "set terminal eps size 3.4,2\n";
+			oPlot << "set output '" << runName << ".eps'\n";
+			oPlot << "set termoption dashlength 0.5\n";
+
+			oPlot << "set ticslevel 0\n";
+			oPlot << "set view equal xy\n";
+			oPlot << "set zrange [0:2200]\n";
+			oPlot << "set multiplot layout 1,1 scale 2.7,2.7 offset 0,0.23\n";
+			oPlot << "set view 72,33\n";
+
+			oPlot << "unset border\n";
+			oPlot << "unset xtics\n";
+			oPlot << "unset ytics\n";
+			oPlot << "unset ztics\n";
+
+			oPlot << "splot \\\n";
+			oPlot << "'floors.dat'								skip 21 notitle with lines lc rgb '#777777', \\\n";
+			oPlot << "'path_bergwerk_path2_nexus_shortest.dat'	skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \\\n";
+			oPlot << "'est_bergwerk_path2_nexus_shortest.dat'	skip 21 notitle with lines lw 2.5 lc rgb '#000099' ";
+
+			oPlot.close();
 
 		}
 

code/eval/PaperPlot.h

@@ -16,35 +16,68 @@ class PaperPlot {
 
 public:
 
+	struct Size {
+		float w;
+		float h;
+		Size(const float w, const float h) : w(w), h(h) {;}
+	};
+
+
+public:
+
+	std::string file;
 	K::Gnuplot gp;
 	K::GnuplotSplot plot;
 
 	K::GnuplotSplotElementLines floors;
 	K::GnuplotSplotElementColorPoints nodes;
-	K::GnuplotSplotElementLines edges;
+	K::GnuplotSplotElementLines edgesSame;
+	K::GnuplotSplotElementLines edgesStair;
 
 public:
 
+	PaperPlot(const std::string& file, Size s) : file(file) {
+		toFile(file, s);
+		setup();
+	}
+
 	PaperPlot() {
+		setup();
+	}
+
+	void toFile(const std::string& file, const Size s) {
+		gp << "set output '" << file << "'\n";
+		gp << "set terminal eps size " << s.w << "," << s.h << "\n";
+	}
+
+	void setup() {
 
 		floors.setLineWidth(2);
 
-		plot.add(&edges);
+		plot.add(&edgesSame);
+		plot.add(&edgesStair);
+
 		plot.add(&nodes);
 		plot.add(&floors);
 
-		nodes.setPointSize(0.7);
+		nodes.setPointSize(0.2);
-		edges.setColorHex("#555555");
+
+		edgesSame.setColorHex("#555555");
+		edgesStair.setColorHex("#AAAA55");
+
 
 		gp << "set ticslevel 0\n";
 
-
-		//gp << "set zrange [0:0]\n";
-
 	}
 
 	void show() {
 		gp.draw(plot);
+		if (file.length() != 0) {
+			std::string dataFile = file + ".dat";
+			std::ofstream os(dataFile.c_str());
+			os << gp.getBuffer();
+			os.close();
+		}
 		gp.flush();;
 	}
 
@@ -95,7 +128,7 @@ public:
 	}
 
 	/** show all nodes (and edges?) within the given region */
-	template <typename T> void debugGrid(Grid<T>& grid, const BBox3& bbox, const bool addNodes, const bool addEdges) {
+	template <typename T> void debugGrid(Grid<T>& grid, const BBox3& bbox, const bool addNodes, const bool addEdges, const bool addAllEdges = false) {
 
 		std::set<uint64_t> used;
 
@@ -107,10 +140,11 @@ public:
 				}
 				if (addEdges) {
 					for (const T& n2 : grid.neighbors(n1)) {
-						if (n1.z_cm == n2.z_cm) {continue;}	// speedup
+						if (n1.z_cm == n2.z_cm && !addAllEdges) {continue;}	// speedup
 						if (used.find(n2.getIdx()) == used.end()) {
 							const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
-							edges.addSegment(p1, p2);
+							if		(p1.z != p2.z)	{edgesStair.addSegment(p1, p2);}
+							else					{edgesSame.addSegment(p1, p2);}
 						}
 					}
 					used.insert(n1.getIdx());

code/eval/PaperVisGrid.h

@@ -27,13 +27,47 @@ class PaperVisGrid {
 public:
 
 
+	static void show() {
+
+		// the grid
+		Grid<MyGridNode> grid(40);
+
+		// floors
+		Helper::FHWSFloors floors = Helper::getFloors(grid);
+		Helper::buildTheGrid(grid, floors);
+
+		PaperPlot plot("/tmp/grid.eps", PaperPlot::Size(4,3));
+
+		// stairwell low left
+		{BBox3 bbox;
+		bbox.add(Point3(1300, 650,160));
+		bbox.add(Point3(2000,1300,floors.h2.cm()));
+		plot.debugGrid(grid, bbox, true, true, true);}
+		plot.addFloor(floors.f1, floors.h1);
+		plot.addFloor(floors.f2, floors.h2);
+
+		plot.gp << "set view 64, 300\n";
+		plot.gp << "unset cbrange\n";
+		plot.gp << "unset colorbox\n";
+		plot.gp << "unset xtics\n";
+		plot.gp << "unset ytics\n";
+		plot.gp << "unset ztics\n";
+		plot.gp << "unset border\n";
+		plot.gp << "set xrange[1250:2050]\n";
+		plot.gp << "set yrange[600:1350]\n";
+		plot.gp << "set hidden3d front\n";
+
+		plot.show();
+
+	}
+
 	static void showStairs() {
 
 		// the grid
 		Grid<MyGridNode> grid(20);
 
 		// floors
-		Helper::FHWSFloors floors = Helper::getFloors();
+		Helper::FHWSFloors floors = Helper::getFloors(grid);
 		Helper::buildTheGrid(grid, floors);
 
 //		// load the floorplan

code/eval/PaperVisImportance.h

@@ -21,7 +21,8 @@
 #include "../Settings.h"
 #include "../DijkstraMapper.h"
 
-PaperPlot2D::Size s1 = PaperPlot2D::Size(2,4);
+PaperPlot2D::Size s1 = PaperPlot2D::Size(4,1.5);
+PaperPlot2D::Size s2 = PaperPlot2D::Size(4,1.7);
 
 class PaperVisImportance {
 
@@ -79,9 +80,11 @@ public:
 
 		{
 			PaperPlot2D plot("floorplan_importance.eps", s1);
-			plot.setRanges(0,2100, 0,5100);
+			plot.setRanges(0,5100, 0,2100);
-			plot.addFloor(f0);
+			//plot.addFloor(f0);
 			plot.addGrid(grid, ColorizerImp());
+			plot.gp << "set colorbox\n";
+			plot.gp << "set lmargin 0\n set tmargin 0\n set bmargin 0\n set rmargin 0.6\n";
 			plot.show();
 		}
 
@@ -110,8 +113,10 @@ public:
 
 
 		// start and end
-		const MyGridNode& gnStart = grid.getNodeFor(GridPoint(1500, 300, 0));
+		//const MyGridNode& gnStart = grid.getNodeFor(GridPoint(1500, 300, 0));
-		const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(900, 4600, 0));
+		//const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(900, 4600, 0));
+		const MyGridNode& gnStart = grid.getNodeFor(GridPoint(300, 300, 0));
+		const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(4700, 1300, 0));
 
 		// build all shortest path to reach th target
 		Dijkstra<MyGridNode> dijkstra;
@@ -131,23 +136,30 @@ public:
 		DijkstraPath<MyGridNode> pathImp(dijkstra.getNode(gnEnd), dijkstra.getNode(gnStart));
 
 		// build plot
-		K::GnuplotPlotElementLines gpPath1;		gpPath1.setLineWidth(2);	gpPath1.setColorHex("#444444");
+		K::GnuplotPlotElementLines gpPath1a;		gpPath1a.setLineWidth(6);	gpPath1a.setColorHex("#000000");
-		K::GnuplotPlotElementLines gpPath2;		gpPath2.setLineWidth(2);	gpPath2.setColorHex("#000000");
+		K::GnuplotPlotElementLines gpPath1b;		gpPath1b.setLineWidth(2);	gpPath1b.setColorHex("#ffffff");
+		K::GnuplotPlotElementLines gpPath2a;		gpPath2a.setLineWidth(7);	gpPath2a.setColorHex("#000000");
+		K::GnuplotPlotElementLines gpPath2b;		gpPath2b.setLineWidth(2);	gpPath2b.setColorHex("#ffffff");
 
 		for (DijkstraNode<MyGridNode>* dn : pathNormal) {
-			gpPath1.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
+			gpPath1a.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
+			gpPath1b.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
 		}
 		for (DijkstraNode<MyGridNode>* dn : pathImp) {
-			gpPath2.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
+			gpPath2a.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
+			gpPath2b.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
 		}
 
 		// plot the 2 paths
 		{
 			PaperPlot2D plot("floorplan_paths.eps", s1);
-			plot.setRanges(0,2100, 0,5100);
+			plot.floors.setColorHex("#777777");
+			plot.setRanges(0,5100, 0,2100);
 			plot.addFloor(f0);
-			plot.plot.add(&gpPath1);		gpPath1.setCustomAttr("dashtype 3");
+			plot.plot.add(&gpPath1a);		//gpPath1a.setCustomAttr("dashtype 2");
-			plot.plot.add(&gpPath2);
+			plot.plot.add(&gpPath1b);		gpPath1b.setCustomAttr("dashtype 2");
+			plot.plot.add(&gpPath2a);
+			plot.plot.add(&gpPath2b);
 			plot.show();
 		}
 
@@ -166,21 +178,98 @@ public:
 			if (i % 250 == 0) {std::cout << i << std::endl;}
 			const MyGridNode& nStart = gnEnd;
 			GridWalkState<MyGridNode> sStart(&nStart, Heading::rnd());
-			//GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
+			GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
+			(void) sEnd;
 
 		}
 
 		// plot the heat-map
 		{
-			PaperPlot2D plot("floorplan_dijkstra_heatmap.eps", s1);
+			PaperPlot2D plot("floorplan_dijkstra_heatmap.eps", s2);
-			plot.setRanges(0,2100, 0,5100);
+			plot.setRanges(0,5220, 0,2100);
-			plot.gp << "set palette gray negative\n";
+			plot.floors.setColorHex("#000000");
+			//plot.gp << "set palette gray negative\n";
+			plot.gp << "set palette defined ( 0 'white', 1 'blue', 2 'orange', 3 'yellow' )\n";
+			plot.gp << "set lmargin 0\n set tmargin 0\n set bmargin 0\n set rmargin 0\n";
 			plot.addFloor(f0);
 			plot.addGrid(grid, ColorizeHeat(7000, 50));
+			plot.plot.add(&gpPath1a);		//gpPath1a.setCustomAttr("dashtype 2");
+			plot.plot.add(&gpPath1b);		gpPath1b.setCustomAttr("dashtype 2");
+			plot.plot.add(&gpPath2a);
+			plot.plot.add(&gpPath2b);
+			plot.gp << "set object circle at 300,300 size 40,40 front\n";
+			plot.gp << "set object circle at 4700,1300 size 40,40 front\n";
 			plot.show();
 		}
 
 
+
+
+
+	}
+
+
+	static void showDijkstraDistance() {
+
+		// load the floorplan
+		FloorplanFactorySVG fpFac(MiscSettings::floorplanPlot, 2.822222);
+		Floor f0 = fpFac.getFloor("test1");
+		const LengthF h0 = LengthF::cm(0);
+
+		// add the floorplan to the grid
+		Grid<MyGridNode> grid(20);
+		GridFactory<MyGridNode> gridFac(grid);
+
+		gridFac.addFloor(f0, h0.cm());
+
+		// remove all isolated nodes not attached to 300,300,floor0
+		gridFac.removeIsolated( (MyGridNode&)grid.getNodeFor( GridPoint(300,300,h0.cm()) ) );
+
+
+
+		// start and end
+		const MyGridNode& gnStart = grid.getNodeFor(GridPoint(300, 300, 0));
+		const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(4700, 1300, 0));
+
+		// build all shortest path to reach th target
+		Dijkstra<MyGridNode> dijkstra;
+
+		// stamp importance information onto the grid-nodes
+		GridImportance gridImp;
+		gridImp.addImportance(grid, h0.cm());
+
+		// path WITH importance
+		DijkstraMapper accImp(grid);
+		dijkstra.build(gnStart, gnStart, accImp);
+		DijkstraPath<MyGridNode> pathImp(dijkstra.getNode(gnEnd), dijkstra.getNode(gnStart));
+
+		// stamp distance information onto the grid
+		// attach a corresponding weight-information to each user-grid-node
+		for (MyGridNode& node : grid) {
+			const DijkstraNode<MyGridNode>* dn = dijkstra.getNode(node);
+			node.distToTarget = dn->cumWeight;
+		}
+
+		// plot the heat-map
+		{
+			PaperPlot2D plot;
+			plot.setRanges(0,5220, 0,2100);
+			plot.floors.setColorHex("#000000");
+			//plot.gp << "set palette gray negative\n";
+			plot.gp << "set palette defined ( 0 'white', 1 'blue', 2 'orange', 3 'yellow' )\n";
+			plot.gp << "set lmargin 0\n set tmargin 0\n set bmargin 0\n set rmargin 0\n";
+			plot.addFloor(f0);
+			plot.addGrid(grid, ColorizerDist());
+			plot.gp << "set object circle at 300,300 size 40,40 front\n";
+			plot.gp << "set object circle at 4700,1300 size 40,40 front\n";
+			plot.show();
+			sleep(1000);
+		}
+
+
+
+
+
 	}
 
 

code/main.cpp

@@ -27,7 +27,7 @@ void testModelWalk() {
 
 	Grid<MyGridNode> grid(MiscSettings::gridSize_cm);
 
-	Helper::FHWSFloors floors = Helper::getFloors();
+	Helper::FHWSFloors floors = Helper::getFloors(grid);
 	Helper::buildTheGrid(grid, floors);
 
 	MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
@@ -88,23 +88,68 @@ int main(void) {
 //	testModelWalk();
 
 	Eval1 eval;
-	//eval.path2_forward_simple();
+//	//eval.path2_forward_simple();
-	//eval.path2_forward_path();
+//	//eval.path2_forward_path();
-	//eval.path3_forward_simple();
+//	//eval.path3_forward_simple();
-	//eval.path3_forward_path();
+//	//eval.path3_forward_path();
 
-	//eval.path4_nexus_simple();
+//	//eval.path4_nexus_simple();
-	//eval.path4_nexus_imp();
+//	//eval.path4_nexus_imp();
-	//eval.path4_nexus_path();
+//	//eval.path4_nexus_path();
-	//eval.path4_nexus_path_b();
+//	//eval.path4_nexus_path_b();
 
-	eval.bergwerk_path1_nexus_simple();
+//	{Eval1 eval; eval.bergwerk_path1_nexus_simple();		eval.run();}
+//	//{Eval1 eval; eval.bergwerk_path1_nexus_imp();			eval.run();}
+//	{Eval1 eval; eval.bergwerk_path1_nexus_multi();		eval.run();}
+//	{Eval1 eval; eval.bergwerk_path1_nexus_shortest();		eval.run();}
 
-	eval.run();
+//	{Eval1 eval; eval.bergwerk_path2_nexus_simple();		eval.run();}
+//	//{Eval1 eval; eval.bergwerk_path2_nexus_imp();			eval.run();}
+//	{Eval1 eval; eval.bergwerk_path2_nexus_multi();		eval.run();}
+//	{Eval1 eval; eval.bergwerk_path2_nexus_shortest();		eval.run();}
 
+//	{Eval1 eval; eval.bergwerk_path3_nexus_simple();		eval.run();}
+//	//{Eval1 eval; eval.bergwerk_path3_nexus_imp();			eval.run();}
+//	{Eval1 eval; eval.bergwerk_path3_nexus_multi();		eval.run();}
+//	{Eval1 eval; eval.bergwerk_path3_nexus_shortest();		eval.run();}
+
+	{Eval1 eval; eval.bergwerk_path4_nexus_simple();		eval.run();}
+	//{Eval1 eval; eval.bergwerk_path4_nexus_imp();		eval.run();}
+	{Eval1 eval; eval.bergwerk_path4_nexus_multi();		eval.run();}
+	{Eval1 eval; eval.bergwerk_path4_nexus_shortest();	eval.run();}
+
+
+
+//	{Eval1 eval; eval.bergwerk_path1_galaxy_simple();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path1_galaxy_multi();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path1_galaxy_shortest();	eval.run();}
+
+//	{Eval1 eval; eval.bergwerk_path2_galaxy_simple();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path2_galaxy_multi();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path2_galaxy_shortest();	eval.run();}
+
+//	{Eval1 eval; eval.bergwerk_path3_galaxy_simple();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path3_galaxy_multi();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path3_galaxy_shortest();	eval.run();}
+
+//	{Eval1 eval; eval.bergwerk_path4_galaxy_simple();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path4_galaxy_multi();	eval.run();}
+//	{Eval1 eval; eval.bergwerk_path4_galaxy_shortest();	eval.run();}
+
+
+
+
+
+
+
+	//eval.run();
+	//sleep(100);
+
+//	PaperVisGrid::show();
 //	PaperVisGrid::showStairs();
 //	PaperVisImportance::createImportance();
 //	PaperVisImportance::createPath();
+//	PaperVisImportance::showDijkstraDistance();
 
 	return 0;
 

code/particles/MyEvaluation.h

@@ -11,6 +11,8 @@
 #include "../lukas/StepEvaluation.h"
 #include "../lukas/TurnEvaluation.h"
 
+#include <atomic>
+
 class MyEvaluation : public K::ParticleFilterEvaluation<MyState, MyObservation> {
 
 private:
@@ -47,6 +49,11 @@ public:
 		double sum = 0;
 		for (K::Particle<MyState>& p : particles) {
 
+//		std::atomic<double> sum(0);
+//		#pragma omp parallel for
+//		for (int i = 0; i < (int) particles.size(); ++i) {
+//			K::Particle<MyState>& p = particles[i];
+
 			double weight = 1.0;
 
 			if (useWifi) {

code/plan_plots.svg

@@ -9,9 +9,9 @@
    xmlns="http://www.w3.org/2000/svg"
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