FHWS/IPIN2017
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added kld with parzen and nv distribution

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added new testfiles
fixed plot
fixed numerical errors
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toni
2017-03-23 19:50:33 +01:00
parent 48566b79fc
commit 212573cba2
5 changed files with 215 additions and 84 deletions
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4
code/filter/Logic.h
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@@ -190,13 +190,13 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
const double pWifi = getWIFI(observation, wifiObs, p.state.position);
const double pBaroPressure = getBaroPressure(observation, p.state.relativePressure);
const double pBeacon = getBEACON(observation, p.state.position);
//const double pBeacon = getBEACON(observation, p.state.position);
//small checks
_assertNotNAN(pWifi, "Wifi prob is nan");
_assertNot0(pBaroPressure,"pBaroPressure is null");
const double prob = pBaroPressure * pBeacon * pWifi;
const double prob = pBaroPressure * pWifi;
p.weight = prob;
sum += (prob);