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Settings.h

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+#ifndef SETTINGS_H
+#define SETTINGS_H
+
+#include <Indoor/grid/GridPoint.h>
+#include <Indoor/data/Timestamp.h>
+#include <Indoor/sensors/radio/VAPGrouper.h>
+
+namespace Settings {
+
+	const int numParticles = 2000;
+	const int numBSParticles = 50;
+
+	namespace IMU {
+        const float turnSigma = 2.5f;		// 3.5
+        const float stepLength = 1.00f;
+        const float stepSigma = 0.15f; //toni changed
+	}
+
+    const float smartphoneAboveGround = 1.3f;
+
+    const float offlineSensorSpeedup = 2.0f;
+
+	namespace Grid {
+		constexpr int gridSize_cm = 20;
+	}
+
+	namespace Smoothing {
+		const bool activated = true;
+		const double stepLength = 0.7;
+		const double stepSigma = 0.2;
+		const double headingSigma = 25.0;
+		const double zChange = 0.0; // mu change in height between two time steps
+		const double zSigma = 0.1;
+		const int lag = 5;
+
+	}
+
+	namespace KDE {
+		const Point2 bandwidth(1,1);
+		const float  gridSize = 0.2f;
+	}
+
+	namespace KDE3D {
+		const Point3 bandwidth(1.5, 1.5, 0.2f);
+		const Point3 gridSize(0.2f, 0.2f, 0.2f); // in meter
+	}
+
+	//const GridPoint destination = GridPoint(70*100, 35*100, 0*100);		// use destination
+	const GridPoint destination = GridPoint(0,0,0);							// do not use destination
+
+	namespace SensorDebug {
+		const Timestamp updateEvery = Timestamp::fromMS(200);
+	}
+
+	namespace WiFiModel {
+		constexpr float sigma = 2.0;
+		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
+		constexpr float TXP = -45;
+		constexpr float EXP = 2.3f;
+		constexpr float WAF = -11.0;
+
+		const bool optimize = true;
+		const bool useRegionalOpt = false;
+
+		// how to perform VAP grouping. see
+		// - calibration in Controller.cpp
+		// - eval in Filter.h
+		// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
+		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);	// Frank: WAS MAXIMUM
+		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);	// Frank: WAS MAXIMUM
+	}
+
+	namespace BeaconModel {
+		constexpr float sigma = 8.0;
+		constexpr float TXP = -71;
+		constexpr float EXP = 1.5;
+		constexpr float WAF = -20.0; //-5 //20??
+	}
+
+	namespace MapView3D {
+		const int maxColorPoints = 1000;
+		constexpr int fps = 15;
+		const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
+	}
+
+	namespace Filter {
+		const Timestamp updateEvery = Timestamp::fromMS(500);
+		constexpr bool useMainThread = false;						// perform filtering in the main thread
+	}
+
+    const std::string mapDir = "/mnt/Daten/Dokumente/programme/localization/maps/museum/";
+    const std::string dataDir = "/mnt/Daten/Dokumente/programme/localization/measurements/rothenburg/2018/";
+	const std::string errorDir = dataDir  + "results/";
+
+	/** describes one dataset (map, training, parameter-estimation, ...) */
+	struct DataSetup {
+		std::string map;
+		std::vector<std::string> training;
+		std::string fingerprints;
+		std::string wifiModel;
+		int numGTPoints;
+	};
+
+	/** all configured datasets */
+    static struct Data {
+
+		DataSetup Path0 = {
+
+			mapDir + "map42_ap_path0.xml",
+
+			{
+                dataDir + "nexus/Path0_4113.csv",
+                dataDir + "nexus/Path0_6563.csv",
+                dataDir + "pixel/Path0_1498.csv",
+                dataDir + "pixel/Path0_2529.csv",
+                //dataDir + "pixel/Path0_7380.csv",
+                //dataDir + "samsung/Path0_4208.csv",
+                //dataDir + "samsung/Path0_6812.csv",
+			},
+
+            dataDir + "nexus/fingerprints/wifi_fp.dat",
+            dataDir + "wifimodel.dat",
+			15
+		};
+
+		DataSetup Path1 = {
+
+			mapDir + "map42_ap_path1_hofzu.xml",
+
+			{
+                dataDir + "nexus/Path1_1548.csv",
+                dataDir + "nexus/Path1_9477.csv",
+                dataDir + "pixel/Path1_2468.csv",
+                dataDir + "pixel/Path1_5497.csv",
+                dataDir + "pixel/Path1_8787.csv",
+                dataDir + "samsung/Path1_5745.csv",
+                dataDir + "samsung/Path1_9130.csv"
+			},
+
+            dataDir + "nexus/fingerprints/wifi_fp.dat",
+            dataDir + "wifimodel.dat",
+			32
+		};
+
+		DataSetup Path2 = {
+
+			mapDir + "map42_ap_path2.xml",
+
+			{
+                dataDir + "nexus/Path2_0374.csv",
+                dataDir + "nexus/Path2_4718.csv",
+                dataDir + "nexus/Path2_8766.csv",
+                dataDir + "pixel/Path2_4336.csv",
+				//dataDir + "museum/Pixel/Path2_4341.csv",
+                dataDir + "pixel/Path2_9038.csv",
+                dataDir + "samsung/Path2_3326.csv",
+                dataDir + "samsung/Path2_5814.csv"
+			},
+
+            dataDir + "nexus/fingerprints/wifi_fp.dat",
+            dataDir + "wifimodel.dat",
+			44
+		};
+
+		DataSetup Path3 = {
+
+			mapDir + "map42_ap_path3.xml",
+
+			{
+                //dataDir + "nexus/Path3_4519.csv",
+                //dataDir + "nexus/Path3_5929.csv",
+                dataDir + "pixel/Path3_6307.csv",
+                //dataDir + "pixel/Path3_5451.csv", //geht nur bis gt-punkt 31
+                //dataDir + "pixel/Path3_9243.csv",
+                //dataDir + "samsung/Path3_7610.csv",
+                //dataDir + "samsung/Path3_7819.csv"
+			},
+
+            dataDir + "nexus/fingerprints/wifi_fp.dat",
+            dataDir + "wifimodel_new.dat",
+			46
+		};
+
+	} data;
+
+}
+
+
+
+
+#endif // SETTINGS_H