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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/particles/MyEvaluation.h
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@@ -53,13 +53,13 @@ public:
weight *= wifiEval.getProbability(p.state, observation);
}
// if (useBaro && observation.barometer) {
// weight *= barometerEval.getProbability(p.state, observation.barometer);
// }
if (useBaro && observation.barometer) {
weight *= barometerEval.getProbability(p.state, observation.barometer);
}
// if (useIB) {
// weight *= beaconEval.getProbability(p.state, observation);
// }
if (useIB) {
weight *= beaconEval.getProbability(p.state, observation);
}
// if (useStep) {
// weight *= stepEval.getProbability(p.state, observation.step);

10
code/particles/MyState.h
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@@ -65,14 +65,14 @@ struct MyState {
MyState& operator += (const MyState& o) {
pCur += o.pCur;
//hPa += o.hPa;
hPa += o.hPa;
//distanceWalked += o.distanceWalked;
return *this;
}
MyState& operator /= (const double d) {
pCur /= d;
//hPa /= d;
hPa /= d;
//distanceWalked /= d;
return *this;
}
@@ -80,7 +80,7 @@ struct MyState {
MyState operator * (const double d) const {
MyState s = MyState(*this);
s.pCur *= d;
//s.hPa *= d;
s.hPa *= d;
//distanceWalked *= d;
return s;
}
@@ -101,6 +101,10 @@ struct MyState {
// return *this;
// }
bool belongsToRegion(const MyState& o) const {
return o.pCur.getDistance(pCur) < 700;
}
// /** rejection for the regional estimator. reject after 150cm distance */
// bool belongsToRegion(const MyState& o) const {

20
code/particles/MyTransition.h
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@@ -48,7 +48,7 @@ public:
*/
MyTransition(Grid<MyGridNode>& grid, GridWalk<MyGridNode>& walker) :
grid(grid), walker(walker),
distWalkStop(0.0, 1.0), distWalk(1.3, 0.5), distStop(0.0, 0.1), distBaro(0.3, 0.05) {
distWalkStop(0.0, 1.0), distWalk(1.5, 0.5), distStop(0.0, 0.1), distBaro(0.3, 0.05) {
distWalkStop.setSeed(1234);
distWalk.setSeed(1234);
@@ -101,20 +101,6 @@ public:
// update cumulative distance
p.state.distanceWalkedCM += std::abs(dist_m * 100.0);
// find the node (square) the particle is within
// just to be safe, we round z to the nearest floor
//Node3* src = graph->getNearestNode(p.state.x_cm, p.state.y_cm, std::round(p.state.z_nr));
const MyGridNode* src = p.state.walkState.node;
// might happen during initialization:
// the particle is nowhere near the grid.. replace it with a random on on the grid
// alternative: just ignore.. resampling will fix this issue quickly ;)
// if (!src) {
// auto it = graph->getNodes().begin();
// std::advance(it, rand() % graph->getNodes().size());
// src = it->second;
// }
// get new destination
//const Node3* dst = choice->getTarget(src, p.state, dist_m);
p.state.walkState = walker.getDestination(grid, p.state.walkState, dist_m );
@@ -129,7 +115,7 @@ public:
// --- ATTENTION HORRIBLE CODE INCOMING. ---
p.state.hPa += (p.state.pOld.z - p.state.pCur.z) / 100.0f * 0.105f;
// //how many floors are changed? and in what direction (given by the sign)
// double numFloorChanged = p.state.z_nr_old - p.state.z_nr;
@@ -167,7 +153,7 @@ public:
// if (!USE_STATIC_CIRCULAR_BUFFERING && !USE_DYNAMIC_CIRCULAR_BUFFERING)
// p.state.hPa += numFloorChanged * distBaro.draw();
// else
// p.state.hPa = numFloorChanged * distBaro.draw();
// p.state.hPa = numFloorChanged * distBaro.draw();
// }
// // sanity check

31
code/particles/P3.h
View File

@@ -1,31 +0,0 @@
#ifndef P3_H
#define P3_H
struct P3 {
double x;
double y;
double z;
P3() : x(0), y(0), z(0) {;}
P3(const double x, const double y, const double z) : x(x), y(y), z(z) {;}
P3 operator - (const P3& o) const {
return P3(x-o.x, y-o.y, z-o.z);
}
P3 operator + (const P3& o) const {
return P3(x+o.x, y+o.y, z+o.z);
}
P3 operator * (const double v) const {
return P3(x*v, y*v, z*v);
}
double getLength(const double floorHeight_cm) const {
return std::sqrt(x*x + y*y + z*floorHeight_cm*z*floorHeight_cm);
}
};
#endif // P3_H