ref #39 smoothing is refactored

KDE smoothing algorithmisch mal geschrieben, jetzt noch testen
2017-12-06 17:37:14 +01:00
parent 95a5c8f34f
commit 74981c6a45
14 changed files with 1303 additions and 127 deletions
--- a/grid/walk/v2/modules/WalkModuleHeadingVonMises.h
+++ b/grid/walk/v2/modules/WalkModuleHeadingVonMises.h
@@ -52,7 +52,7 @@ public:
        state.heading.direction += ctrl->turnSinceLastTransition_rad + var;

        //set kappa of mises
-        float kappa = 5 / std::exp(2 * std::abs(ctrl->motionDeltaAngle_rad));
+        float kappa = 600 / std::exp(2 * std::abs(ctrl->motionDeltaAngle_rad));
        dist.setKappa(kappa);

    }