fixed some small issues regarding museum project

main.cpp

@@ -99,7 +99,7 @@ int main(int argc, char** argv) {
 	//::testing::GTEST_FLAG(filter) = "*Dijkstra.*";
 
 	//::testing::GTEST_FLAG(filter) = "*LogDistanceCeilingModelBeacon*";
-	//::testing::GTEST_FLAG(filter) = "*WiFiOptimizer*";
+    ::testing::GTEST_FLAG(filter) = "*WiFiOptimizer*";
 
 
 	//::testing::GTEST_FLAG(filter) = "*Offline.readWrite*";
@@ -109,7 +109,7 @@ int main(int argc, char** argv) {
 	//::testing::GTEST_FLAG(filter) = "*Matrix4*";
 	//::testing::GTEST_FLAG(filter) = "*Sphere3*";
 
-	::testing::GTEST_FLAG(filter) = "NavMeshD*";
+    //::testing::GTEST_FLAG(filter) = "NavMeshD*";
 	//::testing::GTEST_FLAG(filter) = "Timestamp*";
 
 	//::testing::GTEST_FLAG(filter) = "*RayTrace3*";

math/dsp/Convolution2D.h

@@ -23,10 +23,6 @@ public:
         RealArray2D kernelReal;
         ComplexArray2D kernelSpectrum;
 
-
-        signal.data().data
-
-
         //convert image2d single vector to 2d vector, just use pointers
         int signal_x = signal.width;
         int signal_y = signal.height;

navMesh/NavMeshSettings.h

@@ -36,7 +36,7 @@ namespace NM {
 		/** algorithm choice */
 		SamplePartitionType partitionType = SamplePartitionType::SAMPLE_PARTITION_WATERSHED;
 
-		float regionMinSize = 8;	// (isolated) regions smaller than this will not be rendered?!
+                float regionMinSize = 80;	// (isolated) regions smaller than this will not be rendered?!
 
 
 		const float regionMergeSize = 20;	//??

navMesh/walk/NavMeshWalkSimple.h

@@ -59,7 +59,7 @@ namespace NM {
 
 			// to-be-walked distance;
 			const float toBeWalkedDist = params.getToBeWalkedDistance();
-			const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
+            const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
 
 			// construct reachable region
 			NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);

smc/filtering/ParticleFilter.h

@@ -160,7 +160,7 @@ namespace SMC {
 		void updateTransitionOnly(const Control* control) {
 
 			// sanity checks (if enabled)
-			Assert::isNotNull(transition, "transition MUST not be null! call setTransition() first!");
+            Assert::isNotNull(transition, "transition MUST not be null! call setTransition() first!");
 
 			// perform the transition step
 			transition->transition(particles, control);
@@ -171,9 +171,9 @@ namespace SMC {
 		State updateEvaluationOnly(const Observation& observation) {
 
 			// sanity checks (if enabled)
-			Assert::isNotNull(resampler, "resampler MUST not be null! call setResampler() first!");
+            Assert::isNotNull(resampler, "resampler MUST not be null! call setResampler() first!");
 			Assert::isNotNull(evaluation, "evaluation MUST not be null! call setEvaluation() first!");
-			Assert::isNotNull(estimation, "estimation MUST not be null! call setEstimation() first!");
+            Assert::isNotNull(estimation, "estimation MUST not be null! call setEstimation() first!");
 
 			// perform the evaluation step and calculate the sum of all particle weights
 			evaluation->evaluation(particles, observation);
@@ -184,13 +184,13 @@ namespace SMC {
 			//Assert::isNotNull(weightSum, "sum of all particle weights (returned from eval) is 0.0!");
 
 			// normalize the particle weights and thereby calculate N_eff
-			const double neff = normalize();
+            const double neff = normalize();
 
 			// estimate the current state
 			const State est = estimation->estimate(particles);
 
-			// if the number of efficient particles is too low, perform resampling
+            // if the number of efficient particles is too low, perform resampling
-			if (neff < particles.size() * nEffThresholdPercent) { resampler->resample(particles); }
+            if (neff < particles.size() * nEffThresholdPercent) { resampler->resample(particles); }
 
 			// done
 			return est;

smc/filtering/resampling/ParticleFilterResamplingDivergence.h

@@ -6,6 +6,7 @@
 
 #include "ParticleFilterResampling.h"
 #include "../../ParticleAssertions.h"
+#include "../../../Assertions.h"
 
 int fuck_off = 0;
 
@@ -39,7 +40,7 @@ namespace SMC {
 
 
         void resample(std::vector<Particle<State>>& particles) override{
-
+            Assert::doThrow("lol, nothing happens here. Get out!");
         }
 
         void resample(std::vector<Particle<State>>& particles, double kld, std::vector<Particle<State>>& particlesWifi) override {
@@ -101,7 +102,7 @@ namespace SMC {
                     Particle<State> posteriorParticle = draw(cumWeight);
                     Particle<State> wifiParticle = drawWifi(cumWeightWifi);
 
-                    posteriorParticle.state.position = wifiParticle.state.position;
+                    posteriorParticle.state.pos.pos = wifiParticle.state.pos.pos;
                     particles[i] = posteriorParticle;
                 } else {
                     particles[i] = draw(cumWeight);

smc/filtering/resampling/ParticleFilterResamplingKLD.h

@@ -48,11 +48,11 @@ namespace SMC {
     public:
 
         /** ctor */
-        ParticleFilterResamplingKLD(double delta = 0.01, double epsilon = 0.13, uint32_t N_max = 25000) : delta(delta), epsilon(epsilon), N_max(N_max) {
+        ParticleFilterResamplingKLD(double delta = 0.01, double epsilon = 0.13, uint32_t N_max = 10000) : delta(delta), epsilon(epsilon), N_max(N_max) {
             gen.seed(RANDOM_SEED);
 
-            bins.setBinSizes({0.01, 0.01, 0.2, 0.3});
+            bins.setBinSizes({0.01, 0.01, 0.2});
-            bins.setRanges({BinningRange(-1,100), BinningRange(-10,60), BinningRange(-1,15), BinningRange(0, 2 * M_PI)});
+            bins.setRanges({BinningRange(-1,100), BinningRange(-10,60), BinningRange(-1,15)});
         }
 
         void resample(std::vector<Particle<State>>& particles) override {