FrankE
c5a5acbbf6
started working on eval-graphics ned helper methods tested some new aspects some fixes and changes added some graphics new test-floorplan many cleanups
74 lines
1.5 KiB
C++
Executable File
74 lines
1.5 KiB
C++
Executable File
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#ifndef STEPEVALUATION_H
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#define STEPEVALUATION_H
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#include "../particles/MyState.h"
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#include "StepObservation.h"
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#include <math.h>
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static constexpr double mu_walk = 90;
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static constexpr double sigma_walk = 30;
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static constexpr double mu_stop = 0;
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static constexpr double sigma_stop = 5;
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class StepEvaluation {
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public:
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double getProbability(const MyState& state, const StepObservation* obs) const {
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return 1;
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const float mdlWalked_m = state.walkState.distanceWalked_m;
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((MyState&)state).walkState.distanceWalked_m = 0;
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const float stepSize_m = 0.71;
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const float sensSigma_m = 0.05 + (0.05 * obs->steps);
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const float sensWalked_m = obs->steps * stepSize_m;
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if (obs->steps > 1) {
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int i = 0;
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int j = i+1; ++j;
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}
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const double prob = K::NormalDistribution::getProbability(sensWalked_m, sensSigma_m, mdlWalked_m);
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if (prob != prob) {
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throw 1;
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}
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return prob;
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// float a = 1.0;
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// float mu_distance = 0;
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// float sigma_distance = 0;
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// if(obs->step) {
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// a = 1.0;
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// mu_distance = mu_walk;
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// sigma_distance = sigma_walk;
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// }
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// else {
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// a = 0.0;
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// mu_distance = mu_stop;
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// sigma_distance = sigma_stop;
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// }
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// //Mixed Gaussian model: 1st Gaussian = step, 2nd Gaussian = no step
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// const double p = a * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance) +
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// (1.0-a) * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance);
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// return p;
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}
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};
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#endif // STEPEVALUATION_H
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