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eval final version jopooooooooo

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toni
2017-05-03 16:47:21 +02:00
parent ef74eafb60
commit b4720ae288
5 changed files with 129 additions and 76 deletions
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1
code/filter/KLB.h
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@@ -212,6 +212,7 @@ struct ModeProbabilityTransitionNormal : public K::MarkovTransitionProbability<M
//create the matrix
Eigen::MatrixXd m(2,2);
m << expKld, 1.0 - expKld, 1 - qualityWifi, qualityWifi;
//m << expKld, 1.0 - expKld, 0.00000000000000000001, 0.99999999999999999999;
return m;

10
code/filter/Logic.h
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@@ -175,13 +175,13 @@ struct PFTransSimple : public K::ParticleFilterTransition<MyState, MyControl>{
p.state.position = newPosition;
}else{
//no new position!
#pragma omp atomic
noNewPositionCounter++;
//#pragma omp atomic
//noNewPositionCounter++;
}
}
std::cout << noNewPositionCounter << std::endl;
//std::cout << noNewPositionCounter << std::endl;
}
};
@@ -323,8 +323,8 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
// Point3 posOld_m = p.state.positionOld.inMeter();
const double pWifi = getWIFI(observation, wifiObs, p.state.position);
const double pBaroPressure = getStairProb(p, observation.activity);
//const double pBaroPressure = getBaroPressure(observation, p.state.relativePressure);
//const double pBaroPressure = getStairProb(p, observation.activity);
const double pBaroPressure = getBaroPressure(observation, p.state.relativePressure);
//const double pBeacon = getBEACON(observation, p.state.position);
//small checks

2
code/filter/Structs.h
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@@ -22,7 +22,7 @@
struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpread, public WalkStateFavorZ {
static Floorplan::IndoorMap* map;
//static Floorplan::IndoorMap* map;
float relativePressure = 0.0f;