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started working on the tex-part

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started working on eval-graphics
ned helper methods
tested some new aspects
some fixes and changes
added some graphics
new test-floorplan
many cleanups
This commit is contained in:
FrankE
2016-02-03 21:17:15 +01:00
parent 8a57b4cdbd
commit c5a5acbbf6
40 changed files with 69163 additions and 275 deletions
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code/eval/Eval1.h Normal file
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#ifndef EVAL1_H
#define EVAL1_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 <Indoor/grid/walk/GridWalkSimpleControl.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
class Eval1 : public EvalBase {
public:
Eval1() {
pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
std::vector<int> wp = path1; std::reverse(wp.begin(), wp.end());
MyGridNode& start = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.front()]) );
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.back()]) );
//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
//GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
// path1
//sr = new SensorReader("./measurements/path1/1/1454345312844.csv"); // forward
//srt = new SensorReaderTurn("./measurements/path1/1/Turns.txt");
//srs = new SensorReaderStep("./measurements/path1/1/Steps2.txt");
sr = new SensorReader("./measurements/path1/2/1454345421125.csv"); // backward
srt = new SensorReaderTurn("./measurements/path1/2/Turns.txt");
srs = new SensorReaderStep("./measurements/path1/2/Steps2.txt");
// path2
//sr = new SensorReader("./measurements/path2/1/1454345775306.csv"); // forward
//srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
//srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
//sr = new SensorReader("./measurements/path2/2/1454346071347.csv"); // backward
//srt = new SensorReaderTurn("./measurements/path2/2/Turns.txt");
//srs = new SensorReaderStep("./measurements/path2/2/Steps2.txt");
// path3
// sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
// srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
// srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
// sr = new SensorReader("./measurements/path3/2/1454345622819.csv"); // backward
// srt = new SensorReaderTurn("./measurements/path3/2/Turns.txt");
// srs = new SensorReaderStep("./measurements/path3/2/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, wp);
}
//wifi also uniform dist 0/1 fuer bereiche die OK sind?
//steps hochzaehlen weil mehr als einer in einer transition??
//increase regional average region
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, true, true, true, true); // TODO: STEP TURN
pf->setEvaluation( std::move(eval) );
// resampling step?
pf->setNEffThreshold(1.0);
pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
// state estimation step
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
}
};
#endif // EVAL1_H