FHWS/Fusion2016
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updates the visualisation

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removed obsolte parts
fixed baromter stuff
worked on eval
added ground-truth
This commit is contained in:
FrankE
2016-01-30 19:50:58 +01:00
parent b2ea3145f4
commit cc899d1c46
18 changed files with 388 additions and 190 deletions
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12
code/eval/Eval.h
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@@ -9,6 +9,8 @@
#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.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 Eval : public EvalBase {
@@ -26,15 +28,16 @@ public:
//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
//GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
sr = new SensorReader("./measurements/13/Galaxy/Path2/1433588396094.csv");
srt = new SensorReaderTurn("./measurements/13/Galaxy/Path2/Turns.txt");
srs = new SensorReaderStep("./measurements/13/Galaxy/Path2/Steps2.txt");
//gtw = getGroundTruthWay(*sr, gtwp, way2);
gtw = getGroundTruthWay(*sr, floors.gtwp, way2);
}
@@ -47,7 +50,7 @@ public:
// the particle filter's evaluation method
std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
eval.get()->setUsage(true, false, false, false, false);
eval.get()->setUsage(true, false, false, true, true);
pf->setEvaluation( std::move(eval) );
// resampling step?
@@ -56,6 +59,7 @@ public:
// 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>()));
}