FHWS/IPIN2017
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change simple transition model

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added klb transition models
added debugging output
This commit is contained in:
toni
2017-04-18 11:18:37 +02:00
parent 1f6df67010
commit fdbd984584
7 changed files with 190 additions and 226 deletions
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9
code/filter/Structs.h
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@@ -28,10 +28,13 @@ struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpre
GridPoint positionOld;
MyState() : WalkState(GridPoint(0,0,0)), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
int curMode;
MyState() : WalkState(GridPoint(0,0,0)), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
MyState(GridPoint pos) : WalkState(pos), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
MyState& operator += (const MyState& o) {
this->position += o.position;
return *this;
@@ -40,8 +43,8 @@ struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpre
this->position /= d;
return *this;
}
MyState operator * (const double d) const {
return MyState(this->position*d);
MyState operator * (const double d) const {
return MyState(this->position*d);
}
bool belongsToRegion(const MyState& o) const {
return position.inMeter().getDistance(o.position.inMeter()) < 3.0;