diff --git a/code/CMakeLists.txt b/code/CMakeLists.txt index c5c9690..9914982 100755 --- a/code/CMakeLists.txt +++ b/code/CMakeLists.txt @@ -64,7 +64,7 @@ ADD_DEFINITIONS( -fstack-protector-all -g - -O2 + -O0 -DWITH_TESTS -DWITH_ASSERTIONS diff --git a/code/eval/DebugShortestPath.h b/code/eval/DebugShortestPath.h new file mode 100644 index 0000000..121ca58 --- /dev/null +++ b/code/eval/DebugShortestPath.h @@ -0,0 +1,62 @@ +#ifndef DEBUGSHORTESTPATH_H +#define DEBUGSHORTESTPATH_H + +#include + +#include +#include +#include +#include + +#include "../Helper.h" +#include "../Vis.h" + +template class DebugShortestPath : public GridWalkShortestPathControl { + +private: + + Vis vis; + + +public: + + /** ctor */ + template DebugShortestPath(Grid& grid, const Access& acc, const T& target, Helper::FHWSFloors& floors) : GridWalkShortestPathControl(grid, acc, target) { + + vis.particles.setColorHex("#0000ff"); + vis.particles.setPointSize(1.5); + + vis.addFloor(floors.f0, floors.h0); + vis.addFloor(floors.f1, floors.h1); + vis.addFloor(floors.f2, floors.h2); + vis.addFloor(floors.f3, floors.h3); + + } + + GridWalkState getDestination(Grid& grid, const GridWalkState& start, float distance_m, float headChange_rad) { + + GridWalkState s = GridWalkShortestPathControl::getDestination(grid, start, distance_m, headChange_rad); + + if (this->recalc == 0){ + vis.estPath.clear(); + vis.particles.clear(); + vis.particles.add(K::GnuplotPoint3(this->centerOfMass.x, this->centerOfMass.y, this->centerOfMass.z)); + for (int i = 0; i < (int)this->path->size()-1; ++i) { + const DijkstraNode& dn1 = (*this->path)[i+0]; + const DijkstraNode& dn2 = (*this->path)[i+1]; + K::GnuplotPoint3 p1 (dn1.element->x_cm, dn1.element->y_cm, dn1.element->z_cm); + K::GnuplotPoint3 p2 (dn2.element->x_cm, dn2.element->y_cm, dn2.element->z_cm); + vis.estPath.addSegment(p1, p2); + } + vis.show(); + + } + + + return s; + + } + +}; + +#endif // DEBUGSHORTESTPATH_H diff --git a/code/eval/Eval1.h b/code/eval/Eval1.h index 7712359..fe45713 100644 --- a/code/eval/Eval1.h +++ b/code/eval/Eval1.h @@ -10,6 +10,8 @@ #include #include +#include +#include "DebugShortestPath.h" #include #include @@ -106,6 +108,7 @@ public: // forward runName = "path2_forward_simple"; + BarometerEvaluation::barometerSigma = 0.16; sr = new SensorReader("./measurements/path2/1/1454345775306.csv"); srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt"); srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt"); @@ -121,6 +124,7 @@ public: // forward runName = "path2_forward_path"; + BarometerEvaluation::barometerSigma = 0.16; sr = new SensorReader("./measurements/path2/1/1454345775306.csv"); srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt"); srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt"); @@ -142,6 +146,7 @@ public: // forward runName = "path3_forward_simple"; + BarometerEvaluation::barometerSigma = 0.16; 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"); @@ -161,6 +166,7 @@ public: // forward runName = "path3_forward_path"; + BarometerEvaluation::barometerSigma = 0.16; 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"); @@ -176,6 +182,7 @@ public: runName = "path4_nexus_simple"; + BarometerEvaluation::barometerSigma = 0.16; sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt"); srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt"); @@ -193,6 +200,7 @@ public: runName = "path4_nexus_importance"; + BarometerEvaluation::barometerSigma = 0.05; sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt"); srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt"); @@ -207,6 +215,7 @@ public: runName = "path4_nexus_path"; + BarometerEvaluation::barometerSigma = 0.05; sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt"); srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt"); @@ -218,32 +227,37 @@ public: } + void path4_nexus_path_b() { - //wifi also uniform dist 0/1 fuer bereiche die OK sind? - //steps hochzaehlen weil mehr als einer in einer transition?? - //increase regional average region + runName = "path4_nexus_path"; -// void setEval1() { + BarometerEvaluation::barometerSigma = 0.05; + sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward + srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt"); + srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt"); + gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl); + MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) ); + DebugShortestPath* walk = new DebugShortestPath(grid, DijkstraMapper(grid), end, this->floors); + pf->setTransition( std::unique_ptr( new MyTransition(grid, *walk)) ); + } + void bergwerk_path1_nexus_simple() { -// // the particle filter's evaluation method -// std::unique_ptr eval = std::unique_ptr( new MyEvaluation() ); -// eval.get()->setUsage(true, true, true, true, true); // TODO: STEP TURN -// pf->setEvaluation( std::move(eval) ); + runName = "bergwerk_path1_nexus_simple"; -// // resampling step? -// pf->setNEffThreshold(1.0); -// pf->setResampling( std::unique_ptr>(new K::ParticleFilterResamplingSimple()) ); -// //pf->setResampling( std::unique_ptr>(new K::ParticleFilterResamplingPercent(0.10)) ); + BarometerEvaluation::barometerSigma = 0.10; + sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward + srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt"); + srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt"); + gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl); -// // state estimation step -// pf->setEstimation( std::unique_ptr>(new K::ParticleFilterEstimationWeightedAverage())); -// //pf->setEstimation( std::unique_ptr>(new K::ParticleFilterEstimationRegionalWeightedAverage())); -// //pf->setEstimation( std::unique_ptr>(new K::ParticleFilterEstimationOrderedWeightedAverage(0.50f))); + GridWalkSimpleControl* walk = new GridWalkSimpleControl(); + pf->setTransition( std::unique_ptr( new MyTransition(grid, *walk)) ); + + } -// } }; diff --git a/code/eval/EvalBase.h b/code/eval/EvalBase.h index 8923839..9d96b52 100644 --- a/code/eval/EvalBase.h +++ b/code/eval/EvalBase.h @@ -56,8 +56,11 @@ protected: // NEW std::vector path1 = {29, 28,27,26,255,25,24,23,22,21,20}; + std::vector path1dbl = {29, 29, 28,27,26,255,25,24,23,22,21,20}; std::vector path2 = {19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6}; + std::vector path2dbl = {19, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6}; std::vector path3 = {5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31}; + std::vector path3dbl = {5, 5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31}; std::vector path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44}; std::vector path4dbl = {29, 29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44}; // duplicate 1st waypoint! @@ -120,7 +123,7 @@ public: // sensor numbers const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5; const int s_orientation = 6; - const int s_linearAcceleration = 2; + //const int s_linearAcceleration = 2; std::list turn_observations; std::list step_observations; @@ -206,10 +209,10 @@ public: break; } - case s_linearAcceleration:{ - baroSensorReader.readVerticalAcceleration(se); - break; - } +// case s_linearAcceleration:{ +// baroSensorReader.readVerticalAcceleration(se); +// break; +// } case s_orientation: { obs.orientation = OrientationSensorReader::read(se); @@ -287,7 +290,7 @@ public: vis.show(); // prevent gnuplot errors - usleep(1000*33); + usleep(1000*333); } diff --git a/code/eval/PaperVisImportance.h b/code/eval/PaperVisImportance.h index fdc9b49..478d80e 100644 --- a/code/eval/PaperVisImportance.h +++ b/code/eval/PaperVisImportance.h @@ -38,13 +38,13 @@ public: // use node-importance as grid-color struct ColorizerImp { float get(const MyGridNode& n) const {return n.imp;} - bool skip(const MyGridNode& n) const {return false;} + bool skip(const MyGridNode& n) const {(void) n; return false;} }; // use node-distance as grid-color struct ColorizerDist { float get(const MyGridNode& n) const {return n.distToTarget;} - bool skip(const MyGridNode& n) const {return false;} + bool skip(const MyGridNode& n) const {(void) n; return false;} }; // use num-visited as grid-color @@ -166,7 +166,7 @@ public: if (i % 250 == 0) {std::cout << i << std::endl;} const MyGridNode& nStart = gnEnd; GridWalkState sStart(&nStart, Heading::rnd()); - GridWalkState sEnd = walk.getDestination(grid, sStart, 135, 0); + //GridWalkState sEnd = walk.getDestination(grid, sStart, 135, 0); } diff --git a/code/frank/Settings.h b/code/frank/Settings.h index a212b08..a042996 100755 --- a/code/frank/Settings.h +++ b/code/frank/Settings.h @@ -22,7 +22,7 @@ public: const double pl = 2.7; // 2.7 const double tx = -46; - const float ibPLE = 1.9; + const float ibPLE = 1.5; addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300, Helper::getHeight(3), tx, pl); addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930, Helper::getHeight(3), tx, pl); diff --git a/code/lukas/StepEvaluation.h b/code/lukas/StepEvaluation.h index 8013ef1..c39c269 100755 --- a/code/lukas/StepEvaluation.h +++ b/code/lukas/StepEvaluation.h @@ -19,6 +19,9 @@ public: double getProbability(const MyState& state, const StepObservation* obs) const { + (void) state; + (void) obs; + return 1; // see: particle-filter-control-data diff --git a/code/lukas/TurnEvaluation.h b/code/lukas/TurnEvaluation.h index 3a690da..4b26bfe 100755 --- a/code/lukas/TurnEvaluation.h +++ b/code/lukas/TurnEvaluation.h @@ -17,6 +17,10 @@ public: double getProbability(const MyState& state, const TurnObservation* obs, bool simple = false) const { + (void) state; + (void) obs; + (void) simple; + return 1; // see: particle-filter-control-data diff --git a/code/main.cpp b/code/main.cpp index f64a9d1..4485943 100644 --- a/code/main.cpp +++ b/code/main.cpp @@ -18,6 +18,9 @@ #include "eval/PaperVisDijkstra.h" #include "eval/PaperVisGrid.h" + +float BarometerEvaluation::barometerSigma = NAN; + Settings settings; void testModelWalk() { @@ -28,7 +31,7 @@ void testModelWalk() { Helper::buildTheGrid(grid, floors); MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm())); - MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm())); + //MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm())); Vis vis; vis.addFloor(floors.f0, floors.h0); @@ -89,9 +92,14 @@ int main(void) { //eval.path2_forward_path(); //eval.path3_forward_simple(); //eval.path3_forward_path(); + //eval.path4_nexus_simple(); - eval.path4_nexus_imp(); + //eval.path4_nexus_imp(); //eval.path4_nexus_path(); + //eval.path4_nexus_path_b(); + + eval.bergwerk_path1_nexus_simple(); + eval.run(); // PaperVisGrid::showStairs(); diff --git a/code/particles/MyInitializer.h b/code/particles/MyInitializer.h index c872bc8..765e971 100755 --- a/code/particles/MyInitializer.h +++ b/code/particles/MyInitializer.h @@ -9,12 +9,16 @@ class MyInitializer : public K::ParticleFilterInitializer { private: + + Grid& grid; + int x_cm; int y_cm; int z_cm; + int heading; - Grid& grid; + public: diff --git a/code/particles/MyTransition.h b/code/particles/MyTransition.h index c814cbf..b2cec56 100755 --- a/code/particles/MyTransition.h +++ b/code/particles/MyTransition.h @@ -104,7 +104,7 @@ public: // randomly move the particle within its target grid (box) // (z remains unchanged!) - const int grid_size_cm = grid.getGridSize_cm(); + //const int grid_size_cm = grid.getGridSize_cm(); // new position (x,y) is randomly distributed within the target node Point3 noise = Point3(0,0,0); // TODO diff --git a/code/reader/SensorReaderStep.h b/code/reader/SensorReaderStep.h index 38a914c..6151652 100755 --- a/code/reader/SensorReaderStep.h +++ b/code/reader/SensorReaderStep.h @@ -34,12 +34,10 @@ public: /** read the next sensor entry */ SensorEntryStep getNext() { - char delim; SensorEntryStep entry; fp >> entry.ts; - int i = 0; return entry; diff --git a/code/toni/BarometerEvaluation.h b/code/toni/BarometerEvaluation.h index 1a998fc..d830909 100755 --- a/code/toni/BarometerEvaluation.h +++ b/code/toni/BarometerEvaluation.h @@ -9,13 +9,17 @@ static constexpr double g_BarometerObservation = 0.0; class BarometerEvaluation { +public: + + static float barometerSigma;//= 0.12+0.04; + public: double getProbability(const MyState& state, const BarometerObservation* obs) const { // //rho_z - double barometerSigma = 0.06;//0.12+0.04;//0.09; + //double barometerSigma = 0.06;//0.12+0.04;//0.09; // //The height of the single floor levels. // const static double floor_height[3] = {4.1, 3.4, 3.4}; diff --git a/code/toni/BarometerSensorReader.h b/code/toni/BarometerSensorReader.h index b1146d7..f1dd065 100755 --- a/code/toni/BarometerSensorReader.h +++ b/code/toni/BarometerSensorReader.h @@ -1,6 +1,6 @@ #pragma once -#include "circular.h" +//#include "circular.h" #include "BarometerObservation.h" #include "../reader/SensorReader.h" #include @@ -23,6 +23,9 @@ private: static constexpr int avgSize = 10; static constexpr int startAvgSize = 10; + // skip the first 1-2 seconds and let the sensor settle itself + uint64_t skipTS = 0; + public: BarometerSensorReader(): avg(avgSize), avgStart(startAvgSize) { @@ -30,16 +33,21 @@ public: } BarometerObservation* readBarometer(const SensorEntry& se) { + + // skip the first few 1.5 seconds + if (skipTS == 0) {skipTS = se.ts;} + if (se.ts - skipTS < 3000) {return nullptr;} std::string tmp = se.data; BarometerObservation* obs = new BarometerObservation(); + const float cur = std::stof(tmp); // get the next hPa reading and average it - avg.add(std::stof(tmp)); + avg.add(cur); // average the first few readings as reference if (avgStart.getNumUsed() < startAvgSize) { - avgStart.add(std::stof(tmp)); + avgStart.add(cur); } // current average relative to the start-average @@ -50,13 +58,13 @@ public: } - //TODO - void readVerticalAcceleration(const SensorEntry& se){ +// //TODO +// void readVerticalAcceleration(const SensorEntry& se){ - //Problem: Koordinatensystem LinearAcceleraton ist relativ zum Telefon und nicht zum - //Weltkoordinatensystem. Brauchen die Beschleunigung nach Oben in Weltkoordinaten. +// //Problem: Koordinatensystem LinearAcceleraton ist relativ zum Telefon und nicht zum +// //Weltkoordinatensystem. Brauchen die Beschleunigung nach Oben in Weltkoordinaten. - } +// } }; diff --git a/code/toni/barometric.h b/code/toni/barometric.h index 52603d8..63a4e52 100755 --- a/code/toni/barometric.h +++ b/code/toni/barometric.h @@ -1,3 +1,5 @@ +#define BAROMETRIC + #ifndef BAROMETRIC #define BAROMETRIC diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex index fdeb670..73b3f02 100644 --- a/tex/chapters/experiments.tex +++ b/tex/chapters/experiments.tex @@ -21,3 +21,6 @@ mit pfad laeuft es falsch, weil die andere treppe kuerzer zum ziel ist und das wlan dort besser passt} \commentByFrank{zu grosser einfluss vom pfad ist also kein allheilmittel.. kann, wie beim treppenhaus, auch nach hinten los gehen} + + +\commentByFrank{path1: bad start due to nearby AP and bad parameters (path-loss too high)} diff --git a/tex/chapters/grid.tex b/tex/chapters/grid.tex index c9f9469..8060a16 100644 --- a/tex/chapters/grid.tex +++ b/tex/chapters/grid.tex @@ -12,3 +12,9 @@ \subsection{Weighting} \subsection{Pathfinding} + + \commentByFrank{describe the multi-path version} + + \commentByFrank{describe the single-path version} + \commentByFrank{exp-dist for distance to the path. more distance = less-likely} + \commentByFrank{lambda-factor controls the allowed deviation from the shortest-path} diff --git a/tex/chapters/sensors.tex b/tex/chapters/sensors.tex index 9e5d7e3..115b084 100644 --- a/tex/chapters/sensors.tex +++ b/tex/chapters/sensors.tex @@ -6,26 +6,41 @@ preferred over absolute ones. However, due to noisy sensors \todo{cite oder grafik? je nach platz}, one single reading is not enough as a relative base. Harnessing the usual setup time of a navigation-system ( route calculation, user checking the route) we use the average of all barometer readings during this - timeframe as realtive base $\overline{\mPressure}$. + timeframe as realtive base $\overline{\mObsPressure}$. However, it is often necessary to omit the first few + sensors readings, as the sensor needs some time to settle and the estimated base would otherwise be far off + the real values (see fig. \ref{fig:baroSetupError}). Besides, we use the system's setup time to estimate the + sensors uncertainty $\sigma_\text{baro}$ for later use within the evaluation. - During each transition from $\mStateVec_{t-1}$ to $\mStateVec_t$, the predicted pressure $\mStatePressure$ is - adjusted according to the resulting $z$-change, if any: + \begin{figure} + \include{gfx/baro/baro_setup_issue} + \caption{Sometimes the barometer provides erroneous \SI{}{\hpa} readings during the first seconds. Those + need to be omitted before $\sigma_\text{baro}$ and $\overline{\mObsPressure}$ are estimated.} + \label{fig:baroSetupError} + \end{figure} + + During each transition from $\mStateVec_{t-1}$ to $\mStateVec_t$, we need a corresponding, relative pressure + prediction $\mStatePressure$ which is adjusted according to the resulting $z$-change, if any: \begin{equation} \mState_{t}^{\mStatePressure} = \mState_{t-1}^{\mStatePressure} + \Delta z \cdot \SI{0.105}{\hpa} ,\enskip \Delta z = \mState_{t-1}^{z} - \mState_{t}^z . + \label{eq:baroTransition} \end{equation} - Within the evaluation bla bla + The evaluation following the transition then compares the predicted relative pressure with the observed one + using a normal distribution with the previously estimated $\sigma_\text{baro}$: \begin{equation} - xx + p(\mObsVec_t \mid \mStateVec_t)_\text{baro} = \mathcal{N}(\mObs_t^{\mObsPressure} \mid \mState_t^{\mStatePressure}, \sigma_\text{baro}). + \label{eq:baroEval} \end{equation} - we use the system's setup time to not only determine the relative base but also for estimating the barometers - uncertainty \sigma_\text{baro} used within the evaluation. + + + + \subsection{Wi-Fi \& iBeacons} For additional absolute location hints, we use the Smartphones Wi-Fi and iBeacon sensor to measure the signal-strengths @@ -40,7 +55,7 @@ and calculate the resulting probability as described in \cite{ipin2015}: \begin{equation} - \mProb(\mObsVec \mid \mStateVec)_\text{wifi} = + \mProb(\mObsVec_t \mid \mStateVec_t)_\text{wifi} = \prod\limits_{i=1}^{n} \mathcal{N}(\mRssi_\text{wifi}^{i} \mid P_{r}(\mMdlDist_{i}, \Delta{f_{i}}), \sigma_{\text{wifi}}^2). \label{eq:wifiTotal} \end{equation} @@ -56,6 +71,9 @@ Again, $\mPLE$ is determined emprically. \todo{faellt hier meist kleiner aus, weil ja kuerzere reichweite etc} + + + \subsection{Step- \& Turn-Detection} To prevent degradation within the particle-filter \cite{??} due to downvoting of particles with increased diff --git a/tex/gfx/baro/baro_setup_issue.aux b/tex/gfx/baro/baro_setup_issue.aux new file mode 100644 index 0000000..a43e341 --- /dev/null +++ b/tex/gfx/baro/baro_setup_issue.aux @@ -0,0 +1,24 @@ +\relax +\@setckpt{gfx/baro/baro_setup_issue}{ +\setcounter{page}{3} +\setcounter{equation}{3} +\setcounter{enumi}{0} +\setcounter{enumii}{0} +\setcounter{enumiii}{0} +\setcounter{enumiv}{0} +\setcounter{footnote}{0} +\setcounter{mpfootnote}{0} +\setcounter{section}{4} +\setcounter{subsection}{1} +\setcounter{subsubsection}{0} +\setcounter{paragraph}{0} +\setcounter{IEEEsubequation}{0} +\setcounter{figure}{0} +\setcounter{table}{0} +\setcounter{IEEEbiography}{0} +\setcounter{parentequation}{0} +\setcounter{ALC@unique}{0} +\setcounter{ALC@line}{0} +\setcounter{ALC@rem}{0} +\setcounter{ALC@depth}{0} +} diff --git a/tex/gfx/baro/baro_setup_issue.csv b/tex/gfx/baro/baro_setup_issue.csv new file mode 100755 index 0000000..db7a45b --- /dev/null +++ b/tex/gfx/baro/baro_setup_issue.csv @@ -0,0 +1,1880 @@ 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Bsquare} bind def +/S1 {BL [] 0 setdash 2 copy vpt Square fill Bsquare} bind def +/S2 {BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare} bind def +/S3 {BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare} bind def +/S4 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare} bind def +/S5 {BL [] 0 setdash 2 copy 2 copy vpt Square fill + exch vpt sub exch vpt sub vpt Square fill Bsquare} bind def +/S6 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare} bind def +/S7 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill + 2 copy vpt Square fill Bsquare} bind def +/S8 {BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare} bind def +/S9 {BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare} bind def +/S10 {BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill + Bsquare} bind def +/S11 {BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill + Bsquare} bind def +/S12 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare} bind def +/S13 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill + 2 copy vpt Square fill Bsquare} bind def +/S14 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill + 2 copy exch vpt sub exch vpt Square fill Bsquare} bind def +/S15 {BL [] 0 setdash 2 copy Bsquare fill Bsquare} bind def +/D0 {gsave translate 45 rotate 0 0 S0 stroke grestore} bind def +/D1 {gsave translate 45 rotate 0 0 S1 stroke grestore} bind def +/D2 {gsave translate 45 rotate 0 0 S2 stroke grestore} bind def +/D3 {gsave translate 45 rotate 0 0 S3 stroke grestore} bind def +/D4 {gsave translate 45 rotate 0 0 S4 stroke grestore} bind def +/D5 {gsave translate 45 rotate 0 0 S5 stroke grestore} bind def +/D6 {gsave translate 45 rotate 0 0 S6 stroke grestore} bind def +/D7 {gsave translate 45 rotate 0 0 S7 stroke grestore} bind def +/D8 {gsave translate 45 rotate 0 0 S8 stroke grestore} bind def +/D9 {gsave translate 45 rotate 0 0 S9 stroke grestore} bind def +/D10 {gsave translate 45 rotate 0 0 S10 stroke grestore} bind def +/D11 {gsave translate 45 rotate 0 0 S11 stroke grestore} bind def +/D12 {gsave translate 45 rotate 0 0 S12 stroke grestore} bind def +/D13 {gsave translate 45 rotate 0 0 S13 stroke grestore} bind def +/D14 {gsave translate 45 rotate 0 0 S14 stroke grestore} bind def +/D15 {gsave translate 45 rotate 0 0 S15 stroke grestore} bind def +/DiaE {stroke [] 0 setdash vpt add M + hpt neg vpt neg V hpt vpt neg V + hpt vpt V hpt neg vpt V closepath stroke} def +/BoxE {stroke [] 0 setdash exch hpt sub exch vpt add M + 0 vpt2 neg V hpt2 0 V 0 vpt2 V + hpt2 neg 0 V closepath stroke} def +/TriUE {stroke [] 0 setdash vpt 1.12 mul add M + hpt neg vpt -1.62 mul V + hpt 2 mul 0 V + hpt neg vpt 1.62 mul V closepath stroke} def +/TriDE {stroke [] 0 setdash vpt 1.12 mul sub M + hpt neg vpt 1.62 mul V + hpt 2 mul 0 V + hpt neg vpt -1.62 mul V closepath stroke} def +/PentE {stroke [] 0 setdash gsave + translate 0 hpt M 4 {72 rotate 0 hpt L} repeat + closepath stroke grestore} def +/CircE {stroke [] 0 setdash + hpt 0 360 arc stroke} def +/Opaque {gsave closepath 1 setgray fill grestore 0 setgray closepath} def +/DiaW {stroke [] 0 setdash vpt add M + hpt neg vpt neg V hpt vpt neg V + hpt vpt V hpt neg vpt V Opaque stroke} def +/BoxW {stroke [] 0 setdash exch hpt sub exch vpt add M + 0 vpt2 neg V hpt2 0 V 0 vpt2 V + hpt2 neg 0 V Opaque stroke} def +/TriUW {stroke [] 0 setdash vpt 1.12 mul add M + hpt neg vpt -1.62 mul V + hpt 2 mul 0 V + hpt neg vpt 1.62 mul V Opaque stroke} def +/TriDW {stroke [] 0 setdash vpt 1.12 mul sub M + hpt neg vpt 1.62 mul V + hpt 2 mul 0 V + hpt neg vpt -1.62 mul V Opaque stroke} def +/PentW {stroke [] 0 setdash gsave + translate 0 hpt M 4 {72 rotate 0 hpt L} repeat + Opaque stroke grestore} def +/CircW {stroke [] 0 setdash + hpt 0 360 arc Opaque stroke} def +/BoxFill {gsave Rec 1 setgray fill grestore} def +/Density { + /Fillden exch def + currentrgbcolor + /ColB exch def /ColG exch def /ColR exch def + /ColR ColR Fillden mul Fillden sub 1 add def + /ColG ColG Fillden mul Fillden sub 1 add def + /ColB ColB Fillden mul Fillden sub 1 add def + ColR ColG ColB setrgbcolor} def +/BoxColFill {gsave Rec PolyFill} def +/PolyFill {gsave Density fill grestore grestore} def +/h {rlineto rlineto rlineto gsave closepath fill grestore} bind def +% +% PostScript Level 1 Pattern Fill routine for rectangles +% Usage: x y w h s a XX PatternFill +% x,y = lower left corner of box to be filled +% w,h = width and height of box +% a = angle in degrees between lines and x-axis +% XX = 0/1 for no/yes cross-hatch +% +/PatternFill {gsave /PFa [ 9 2 roll ] def + PFa 0 get PFa 2 get 2 div add PFa 1 get PFa 3 get 2 div add translate + PFa 2 get -2 div PFa 3 get -2 div PFa 2 get PFa 3 get Rec + TransparentPatterns {} {gsave 1 setgray fill grestore} ifelse + clip + currentlinewidth 0.5 mul setlinewidth + /PFs PFa 2 get dup mul PFa 3 get dup mul add sqrt def + 0 0 M PFa 5 get rotate PFs -2 div dup translate + 0 1 PFs PFa 4 get div 1 add floor cvi + {PFa 4 get mul 0 M 0 PFs V} for + 0 PFa 6 get ne { + 0 1 PFs PFa 4 get div 1 add floor cvi + {PFa 4 get mul 0 2 1 roll M PFs 0 V} for + } if + stroke grestore} def +% +/languagelevel where + {pop languagelevel} {1} ifelse +dup 2 lt + {/InterpretLevel1 true def + /InterpretLevel3 false def} + {/InterpretLevel1 Level1 def + 2 gt + {/InterpretLevel3 Level3 def} + {/InterpretLevel3 false def} + ifelse } + ifelse +% +% PostScript level 2 pattern fill definitions +% +/Level2PatternFill { +/Tile8x8 {/PaintType 2 /PatternType 1 /TilingType 1 /BBox [0 0 8 8] /XStep 8 /YStep 8} + bind def +/KeepColor {currentrgbcolor [/Pattern /DeviceRGB] setcolorspace} bind def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 0 M 8 8 L 0 8 M 8 0 L stroke} +>> matrix makepattern +/Pat1 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 0 M 8 8 L 0 8 M 8 0 L stroke + 0 4 M 4 8 L 8 4 L 4 0 L 0 4 L stroke} +>> matrix makepattern +/Pat2 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 0 M 0 8 L + 8 8 L 8 0 L 0 0 L fill} +>> matrix makepattern +/Pat3 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -4 8 M 8 -4 L + 0 12 M 12 0 L stroke} +>> matrix makepattern +/Pat4 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -4 0 M 8 12 L + 0 -4 M 12 8 L stroke} +>> matrix makepattern +/Pat5 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -2 8 M 4 -4 L + 0 12 M 8 -4 L 4 12 M 10 0 L stroke} +>> matrix makepattern +/Pat6 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -2 0 M 4 12 L + 0 -4 M 8 12 L 4 -4 M 10 8 L stroke} +>> matrix makepattern +/Pat7 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 8 -2 M -4 4 L + 12 0 M -4 8 L 12 4 M 0 10 L stroke} +>> matrix makepattern +/Pat8 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 -2 M 12 4 L + -4 0 M 12 8 L -4 4 M 8 10 L stroke} +>> matrix makepattern +/Pat9 exch def +/Pattern1 {PatternBgnd KeepColor Pat1 setpattern} bind def +/Pattern2 {PatternBgnd KeepColor Pat2 setpattern} bind def +/Pattern3 {PatternBgnd KeepColor Pat3 setpattern} bind def +/Pattern4 {PatternBgnd KeepColor Landscape {Pat5} {Pat4} ifelse setpattern} bind def +/Pattern5 {PatternBgnd KeepColor Landscape {Pat4} {Pat5} ifelse setpattern} bind def +/Pattern6 {PatternBgnd KeepColor Landscape {Pat9} {Pat6} ifelse setpattern} bind def +/Pattern7 {PatternBgnd KeepColor Landscape {Pat8} {Pat7} ifelse setpattern} bind def +} def +% +% +%End of PostScript Level 2 code +% +/PatternBgnd { + TransparentPatterns {} {gsave 1 setgray fill grestore} ifelse +} def +% +% Substitute for Level 2 pattern fill codes with +% grayscale if Level 2 support is not selected. +% +/Level1PatternFill { +/Pattern1 {0.250 Density} bind def +/Pattern2 {0.500 Density} bind def +/Pattern3 {0.750 Density} bind def +/Pattern4 {0.125 Density} bind def +/Pattern5 {0.375 Density} bind def +/Pattern6 {0.625 Density} bind def +/Pattern7 {0.875 Density} bind def +} def +% +% Now test for support of Level 2 code +% +Level1 {Level1PatternFill} {Level2PatternFill} ifelse +% +/Symbol-Oblique /Symbol findfont [1 0 .167 1 0 0] makefont +dup length dict begin {1 index /FID eq {pop pop} {def} ifelse} forall +currentdict end definefont pop +% +Level1 SuppressPDFMark or +{} { +/SDict 10 dict def +systemdict /pdfmark known not { + userdict /pdfmark systemdict /cleartomark get put +} if +SDict begin [ + /Title (baro_setup_issue.tex) + /Subject (gnuplot plot) + /Creator (gnuplot 5.0 patchlevel 1) + /Author (kazu) +% /Producer (gnuplot) +% /Keywords () + /CreationDate (Sun Feb 7 13:28:05 2016) + /DOCINFO pdfmark +end +} ifelse +end +% +% Support for boxed text - Ethan A Merritt May 2005 +% +/InitTextBox { userdict /TBy2 3 -1 roll put userdict /TBx2 3 -1 roll put + userdict /TBy1 3 -1 roll put userdict /TBx1 3 -1 roll put + /Boxing true def } def +/ExtendTextBox { Boxing + { gsave dup false charpath pathbbox + dup TBy2 gt {userdict /TBy2 3 -1 roll put} {pop} ifelse + dup TBx2 gt {userdict /TBx2 3 -1 roll put} {pop} ifelse + dup TBy1 lt {userdict /TBy1 3 -1 roll put} {pop} ifelse + dup TBx1 lt {userdict /TBx1 3 -1 roll put} {pop} ifelse + grestore } if } def +/PopTextBox { newpath TBx1 TBxmargin sub TBy1 TBymargin sub M + TBx1 TBxmargin sub TBy2 TBymargin add L + TBx2 TBxmargin add TBy2 TBymargin add L + TBx2 TBxmargin add TBy1 TBymargin sub L closepath } def +/DrawTextBox { PopTextBox stroke /Boxing false def} def +/FillTextBox { gsave PopTextBox 1 1 1 setrgbcolor fill grestore /Boxing false def} def +0 0 0 0 InitTextBox +/TBxmargin 20 def +/TBymargin 20 def +/Boxing false def +/textshow { ExtendTextBox Gshow } def +% +%%EndProlog +%%Page: 1 1 +gnudict begin +gsave +doclip +50 50 translate +0.050 0.050 scale +0 setgray +newpath +1.000 UL +LTb +LCb setrgbcolor +LTb +0.93 0.93 0.93 C 1.000 660 440 336 1170 BoxColFill +LCb setrgbcolor +660 440 N +0 1170 V +336 0 V +996 440 L +-336 0 V +Z stroke +1.000 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+660 1903 N +660 440 L +4194 0 V +0 1463 V +-4194 0 V +Z stroke +1.000 UP +1.000 UL +LTb +stroke +grestore +end +showpage +%%Trailer diff --git a/tex/gfx/baro/baro_setup_issue.gp b/tex/gfx/baro/baro_setup_issue.gp new file mode 100644 index 0000000..e066483 --- /dev/null +++ b/tex/gfx/baro/baro_setup_issue.gp @@ -0,0 +1,23 @@ +set terminal epslatex size 3.5,1.4 +set output "baro_setup_issue.eps" + +unset arrow + +set yrange[980.5:981.5] +set xrange[0:50] +set ytics 980.5, 0.2, 981.5 + +set lmargin 5.0 +set rmargin 1.4 +set tmargin 0.5 + +set object 1 rectangle from 0,980.5 to 4.000,981.3 fs solid fc rgb "#EEEEEE" behind +set object 2 rectangle from 4.000,980.5 to 10.000,981.1 fs solid fc rgb "#DDDDDD" behind +set object 3 rectangle from 10.000,980.5 to 36.000,980.9 fs solid fc rgb "#EEEEEE" behind +set object 4 rectangle from 36.000,980.5 to 48.000,981.2 fs solid fc rgb "#DDDDDD" behind + +set label 1 "error" at 0.500,981.38 +set label 2 "estimation" at 4.500, 981.18 +set label 3 "walk" at 10.500, 980.98 +set label 4 "stair" at 36.500, 981.28 +plot "baro_setup_issue.csv" using ($2/1000):4 with lines notitle lc rgb "black" diff --git a/tex/gfx/baro/baro_setup_issue.tex b/tex/gfx/baro/baro_setup_issue.tex new file mode 100644 index 0000000..6c6c772 --- /dev/null +++ b/tex/gfx/baro/baro_setup_issue.tex @@ -0,0 +1,108 @@ +% GNUPLOT: LaTeX picture with Postscript +\begingroup + \makeatletter + \providecommand\color[2][]{% + \GenericError{(gnuplot) \space\space\space\@spaces}{% + Package color not loaded in conjunction with + terminal option `colourtext'% + }{See the gnuplot documentation for explanation.% + }{Either use 'blacktext' in gnuplot or load the package + color.sty in LaTeX.}% + \renewcommand\color[2][]{}% + }% + \providecommand\includegraphics[2][]{% + \GenericError{(gnuplot) \space\space\space\@spaces}{% + Package graphicx or graphics not loaded% + }{See the gnuplot documentation for explanation.% + }{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}% + \renewcommand\includegraphics[2][]{}% + }% + \providecommand\rotatebox[2]{#2}% + \@ifundefined{ifGPcolor}{% + \newif\ifGPcolor + \GPcolorfalse + }{}% + \@ifundefined{ifGPblacktext}{% + \newif\ifGPblacktext + \GPblacktexttrue + }{}% + % define a \g@addto@macro without @ in the name: + \let\gplgaddtomacro\g@addto@macro + % define empty templates for all commands taking text: + \gdef\gplbacktext{}% + \gdef\gplfronttext{}% + \makeatother + \ifGPblacktext + % no textcolor at all + \def\colorrgb#1{}% + \def\colorgray#1{}% + \else + % gray or color? + \ifGPcolor + \def\colorrgb#1{\color[rgb]{#1}}% + \def\colorgray#1{\color[gray]{#1}}% + \expandafter\def\csname LTw\endcsname{\color{white}}% + \expandafter\def\csname LTb\endcsname{\color{black}}% + \expandafter\def\csname LTa\endcsname{\color{black}}% + \expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}% + \expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}% + \expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}% + \expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}% + \expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}% + \expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}% + \expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}% + \expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}% + \expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}% + \else + % gray + \def\colorrgb#1{\color{black}}% + \def\colorgray#1{\color[gray]{#1}}% + \expandafter\def\csname LTw\endcsname{\color{white}}% + \expandafter\def\csname LTb\endcsname{\color{black}}% + \expandafter\def\csname LTa\endcsname{\color{black}}% + \expandafter\def\csname LT0\endcsname{\color{black}}% + \expandafter\def\csname LT1\endcsname{\color{black}}% + \expandafter\def\csname LT2\endcsname{\color{black}}% + \expandafter\def\csname LT3\endcsname{\color{black}}% + \expandafter\def\csname LT4\endcsname{\color{black}}% + \expandafter\def\csname LT5\endcsname{\color{black}}% + \expandafter\def\csname LT6\endcsname{\color{black}}% + \expandafter\def\csname LT7\endcsname{\color{black}}% + \expandafter\def\csname LT8\endcsname{\color{black}}% + \fi + \fi + \setlength{\unitlength}{0.0500bp}% + \ifx\gptboxheight\undefined% + \newlength{\gptboxheight}% + \newlength{\gptboxwidth}% + \newsavebox{\gptboxtext}% + \fi% + \setlength{\fboxrule}{0.5pt}% + \setlength{\fboxsep}{1pt}% +\begin{picture}(5040.00,2014.00)% + \gplgaddtomacro\gplbacktext{% + \csname LTb\endcsname% + \put(528,440){\makebox(0,0)[r]{\strut{}$980.5$}}% + \put(528,733){\makebox(0,0)[r]{\strut{}$980.7$}}% + \put(528,1025){\makebox(0,0)[r]{\strut{}$980.9$}}% + \put(528,1318){\makebox(0,0)[r]{\strut{}$981.1$}}% + \put(528,1610){\makebox(0,0)[r]{\strut{}$981.3$}}% + \put(528,1903){\makebox(0,0)[r]{\strut{}$981.5$}}% + \put(660,220){\makebox(0,0){\strut{}$0$}}% + \put(1499,220){\makebox(0,0){\strut{}$10$}}% + \put(2338,220){\makebox(0,0){\strut{}$20$}}% + \put(3176,220){\makebox(0,0){\strut{}$30$}}% + \put(4015,220){\makebox(0,0){\strut{}$40$}}% + \put(4854,220){\makebox(0,0){\strut{}$50$}}% + \put(702,1727){\makebox(0,0)[l]{\strut{}error}}% + \put(1037,1435){\makebox(0,0)[l]{\strut{}estimation}}% + \put(1541,1142){\makebox(0,0)[l]{\strut{}walk}}% + \put(3722,1581){\makebox(0,0)[l]{\strut{}stair}}% + }% + \gplgaddtomacro\gplfronttext{% + }% + \gplbacktext + \put(0,0){\includegraphics{baro_setup_issue}}% + \gplfronttext + \end{picture}% +\endgroup