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changed visualisation

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added new eval code for new walkers
improved barometer (moving avg and median)
floorplan-staircase-fixes
disabled step-turn (now part of transition)
added abs-orientation-reader (for testing)
added beacons
This commit is contained in:
FrankE
2016-02-05 20:21:46 +01:00
parent 9e9b6882cd
commit 716b004f3c
15 changed files with 188 additions and 179 deletions
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51
code/lukas/TurnEvaluation.h
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@@ -19,49 +19,22 @@ public:
return 1;
// get the current heading-change
const float delta = Angle::radToDeg(state.walkState.headingChange_rad);
// see: particle-filter-control-data
// // get the current heading-change
// const float delta = Angle::radToDeg(state.walkState.headingChange_rad);
// and reset it as it was evaluated
((MyState&) state).walkState.headingChange_rad = 0;
// // and reset it as it was evaluated
// ((MyState&) state).walkState.headingChange_rad = 0;
// proability?
const float sigma = 15.0;
const double prob = K::NormalDistribution::getProbability(obs->delta_heading, sigma, delta);
// // proability?
// const float sigma = 15.0;
// const double prob = K::NormalDistribution::getProbability(obs->delta_heading, sigma, delta);
if (prob != prob) {
throw 1;
}
// if (prob != prob) {
// throw 1;
// }
return prob;
// //Particle's heading change
// double delta_heading_particle = state.heading - state.heading_old;
// //Correct offset of the heading change
// if (delta_heading_particle < -180) {
// delta_heading_particle += 360;
// }
// else if (delta_heading_particle > 180) {
// delta_heading_particle -= 360;
// }
// //Switch between simple and improved evaluation
// //"Simple" only evaluates the deviation between the measured heading and the particle heading change using
// //normal distribution
// //if(simple) {
// double sigma_delta_heading = sigma_heading;
// const double p = K::NormalDistribution::getProbability(obs->delta_heading, sigma_delta_heading, delta_heading_particle);
// return p;
// // }
// return prob;
}