71 lines
2.7 KiB
C++
71 lines
2.7 KiB
C++
#ifndef EVAL_H
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#define EVAL_H
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#include "EvalBase.h"
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#include "../DijkstraMapper.h"
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#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
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#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
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#include <Indoor/grid/walk/GridWalkPushForward.h>
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#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
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#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
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class Eval : public EvalBase {
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public:
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Eval() {
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pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
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MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
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MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
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//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
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//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
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GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
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//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
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pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
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sr = new SensorReader("./measurements/13/Galaxy/Path2/1433588396094.csv");
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srt = new SensorReaderTurn("./measurements/13/Galaxy/Path2/Turns.txt");
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srs = new SensorReaderStep("./measurements/13/Galaxy/Path2/Steps2.txt");
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gtw = getGroundTruthWay(*sr, floors.gtwp, way2);
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}
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void setEval1() {
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runName = "TODO";
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// the particle filter's evaluation method
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std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
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eval.get()->setUsage(true, false, false, true, true);
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pf->setEvaluation( std::move(eval) );
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// resampling step?
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pf->setNEffThreshold(1.0);
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pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
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// state estimation step
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pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
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//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
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}
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};
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#endif // EVAL_H
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