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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18
code/particles/MyEvaluation.h
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@@ -61,14 +61,13 @@ public:
weight *= beaconEval.getProbability(p.state, observation);
}
// if (useStep) {
// weight *= stepEval.getProbability(p.state, observation.step);
// p.state.distanceWalkedCM = 0.0;
// }
if (useStep) {
weight *= stepEval.getProbability(p.state, observation.step);
}
// if (useTurn) {
// weight *= turnEval.getProbability(p.state, observation.turn, true);
// }
if (useTurn) {
weight *= turnEval.getProbability(p.state, observation.turn, true);
}
// set and accumulate
p.weight = weight;
@@ -76,6 +75,11 @@ public:
}
// reset
observation.step->steps = 0;
observation.turn->delta_heading = 0;
observation.turn->delta_motion = 0;
return sum;
}