FHWS/Fusion2016
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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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4
code/frank/BeaconEvaluation.h
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@@ -44,7 +44,7 @@ public:
// floor difference?
//const double floorDist = std::abs(beacon->zNr - state.getFloorNr());
const float floorDist = std::round(std::abs(Helper::getFloorNrFloat(beacon->z) - Helper::getFloorNrFloat(state.pCur.z)));
const float floorDist = std::ceil(std::abs(Helper::getFloorNrFloat(beacon->z) - Helper::getFloorNrFloat(state.pCur.z)));
// estimate the rssi depending on above distance
const double mdlRSSI = distanceToRssi(beacon->tx, distToBeacon_m, beacon->pl) - (floorDist * waf);
@@ -57,7 +57,7 @@ public:
// const double mdlRelRSSI = mdlStrongestRSSI - mdlRSSI;
// probability? (sigma grows with measurement's age)
const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 2.0;
const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.0;
const double p = K::NormalDistribution::getProbability(mdlRSSI, sigma, realRSSI);
//const double p = K::NormalDistribution::getProbability(mdlRelRSSI, sigma, realRelRSSI);