some fixes [multithreading,..]

needed interface changes [new options] logger for android wifi-ap-optimization new test-cases
2016-09-28 12:19:14 +02:00
parent 91e3367372
commit 4f511d907e
62 changed files with 1418 additions and 175 deletions
--- a/grid/walk/v2/modules/WalkModuleActivityControl.h
+++ b/grid/walk/v2/modules/WalkModuleActivityControl.h
@@ -0,0 +1,111 @@
+#ifndef WALKMODULEACTIVITYCONTROL_H
+#define WALKMODULEACTIVITYCONTROL_H
+
+#include "WalkModule.h"
+
+#include "../../../../geo/Heading.h"
+#include "../../../../math/Distributions.h"
+
+#include "../../../../sensors/pressure/ActivityButterPressure.h"
+
+
+/**
+ * use the currently detected activity (stay-on-floor, walk-up, walk-down, ..)
+ * from the system's control data to favor edges that resemble this activity
+ */
+template <typename Node, typename WalkState, typename Control> class WalkModuleActivityControl : public WalkModule<Node, WalkState> {
+
+private:
+
+	const Control* ctrl;
+
+public:
+
+	/** ctor */
+	WalkModuleActivityControl(const Control* ctrl) : ctrl(ctrl) {
+		;
+	}
+
+	virtual void updateBefore(WalkState& state, const Node& startNode) override {
+		(void) state;
+		(void) startNode;
+	}
+
+	virtual void updateAfter(WalkState& state, const Node& startNode, const Node& endNode) override {
+		(void) state;
+		(void) startNode;
+		(void) endNode;
+
+	}
+
+	virtual void step(WalkState& state, const Node& curNode, const Node& nextNode) override {
+		(void) state;
+		(void) curNode;
+		(void) nextNode;
+	}
+
+//	static double getProbability(const Node& lastNode, const Node& nextNode, const ActivityButterPressure::Activity activity) {
+
+//		switch (activity) {
+//		    case ActivityButterPressure::Activity::DOWN:
+//			    if (deltaZ_cm < 0)	{return 0.85;}
+//				if (deltaZ_cm == 0)	{return 0.10;}
+//		                            {return 0.05;}
+//		    case ActivityButterPressure::Activity::UP:
+//			    if (deltaZ_cm > 0)	{return 0.85;}
+//				if (deltaZ_cm == 0)	{return 0.10;}
+//		                            {return 0.05;}
+//		    case ActivityButterPressure::Activity::STAY:
+//			    if (deltaZ_cm == 0) {return 0.85;}
+//		                            {return 0.15;}
+//		    default:
+//			    throw Exception("not yet implemented");
+//		}
+
+//		return 1.0;
+
+//	}
+
+	double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
+
+		(void) state;
+		(void) startNode;
+
+		const int deltaZ_cm = potentialNode.z_cm - curNode.z_cm;
+
+		// TODO: general activity enum and activity-detector based on barometer and accelerometer?
+		const ActivityButterPressure::Activity activity = ctrl->activity;
+
+//		const float kappa = 0.75;
+
+		switch (activity) {
+			case ActivityButterPressure::Activity::DOWN:
+			    if (deltaZ_cm < 0)	{return 0.60;}
+				if (deltaZ_cm == 0)	{return 0.25;}
+		                            {return 0.15;}
+			case ActivityButterPressure::Activity::UP:
+			    if (deltaZ_cm > 0)	{return 0.60;}
+				if (deltaZ_cm == 0)	{return 0.25;}
+		                            {return 0.15;}
+			case ActivityButterPressure::Activity::STAY:
+			    if (deltaZ_cm == 0) {return 0.60;}
+		                            {return 0.40;}
+//			case ActivityButterPressure::Activity::DOWN:
+//			case ActivityButterPressure::Activity::UP:
+//				if (potentialNode.getType() == GridNode::TYPE_STAIR)	{return kappa;}
+//				if (potentialNode.getType() == GridNode::TYPE_ELEVATOR)	{return kappa;}
+//																		{return 1-kappa;}
+//			case ActivityButterPressure::Activity::STAY:
+//				if (potentialNode.getType() == GridNode::TYPE_DOOR)		{return kappa;}
+//				if (potentialNode.getType() == GridNode::TYPE_FLOOR)	{return kappa;}
+//																		{return 1-kappa;}
+			default:
+				throw Exception("not yet implemented");
+		}
+
+	}
+
+
+};
+
+#endif // WALKMODULEACTIVITYCONTROL_H