FHWS/Fusion2016
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fixed baraomter issue (skip first few readings due to sensor errors)

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added new eval using shortest-path + plotting
removed compiler warnings for clean-code
fixed some minor issues
added new TeX code and new graphics
This commit is contained in:
FrankE
2016-02-07 13:30:04 +01:00
parent 004d1f48fd
commit deb21fc550
23 changed files with 4480 additions and 51 deletions
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15
code/eval/EvalBase.h
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@@ -56,8 +56,11 @@ protected:
// NEW
std::vector<int> path1 = {29, 28,27,26,255,25,24,23,22,21,20};
std::vector<int> path1dbl = {29, 29, 28,27,26,255,25,24,23,22,21,20};
std::vector<int> path2 = {19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
std::vector<int> path2dbl = {19, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
std::vector<int> path3 = {5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
std::vector<int> path3dbl = {5, 5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
std::vector<int> path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};
std::vector<int> 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<TurnObservation> turn_observations;
std::list<StepObservation> 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);
}