FHWS/Indoor
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added beacon stuff similiar architecture then wifi \n added activity percentage stuff \n added testcases

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toni
2016-11-04 17:25:49 +01:00
parent 7f53f83da0
commit a35a22e676
26 changed files with 1207 additions and 144 deletions
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91
grid/walk/v2/modules/WalkModuleActivityControlPercent.h Normal file
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#ifndef WALKMODULEACTIVITYCONTROLPERCENT_H
#define WALKMODULEACTIVITYCONTROLPERCENT_H
#include "WalkModule.h"
#include "WalkStateHeading.h"
#include "../../../../geo/Heading.h"
#include "../../../../math/Distributions.h"
#include "../../../../sensors/pressure/ActivityButterPressurePercent.h"
#include "../../../../grid/GridNode.h"
/** favor z-transitions */
template <typename Node, typename WalkState, typename Control> class WalkModuleActivityControlPercent : public WalkModule<Node, WalkState> {
private:
Control* ctrl;
public:
/** ctor */
WalkModuleActivityControlPercent(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;
}
double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
(void) state;
(void) startNode;
const int deltaZ_cm = curNode.z_cm - potentialNode.z_cm;
//floor and doors
if(potentialNode.getType() == 0 || potentialNode.getType() == 3){
return ctrl->activityPercent.stay;
}
//stairs
if(potentialNode.getType() == 1){
// if(ctrl->barometer.actProbs.stay > ctrl->barometer.actProbs.stairsDown + ctrl->barometer.actProbs.stairsUp){
// return ctrl->barometer.actProbs.stay * 0.75;//(ctrl->barometer.actProbs.stairsDown > ctrl->barometer.actProbs.stairsUp ? ctrl->barometer.actProbs.stairsDown : ctrl->barometer.actProbs.stairsUp);
// }
if (deltaZ_cm > 0){return ctrl->activityPercent.stairsDown;}
if (deltaZ_cm < 0){return ctrl->activityPercent.stairsUp;}
return (ctrl->activityPercent.stairsDown > ctrl->activityPercent.stairsUp ? ctrl->activityPercent.stairsDown : ctrl->activityPercent.stairsUp);
}
//elevators
if(potentialNode.getType() == 2){
// //we need to do this, that particles are able to walk into an elevator even if the prob for that is low,
// //that happens often since the activity has some delay.
// if(ctrl->barometer.actProbs.stay > ctrl->barometer.actProbs.elevatorDown + ctrl->barometer.actProbs.elevatorUp){
// return ctrl->barometer.actProbs.stay * 0.75;//(ctrl->barometer.actProbs.stairsDown > ctrl->barometer.actProbs.stairsUp ? ctrl->barometer.actProbs.stairsDown : ctrl->barometer.actProbs.stairsUp);
// }
if (deltaZ_cm > 0){return ctrl->activityPercent.elevatorDown;}
if (deltaZ_cm < 0){return ctrl->activityPercent.elevatorUp;}
//for walking out of the elevator
return (ctrl->activityPercent.elevatorDown > ctrl->activityPercent.elevatorUp ? ctrl->activityPercent.elevatorDown : ctrl->activityPercent.elevatorUp);
}
std::cout << "Node has unknown Type" << std::endl;
return 1.0;
}
};
#endif // WALKMODULEACTIVITYCONTROLPERCENT_H

86
grid/walk/v2/modules/WalkModuleButterActivity.h
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#ifndef WALKMODULEBUTTERACTIVITY_H
#define WALKMODULEBUTTERACTIVITY_H
#include "WalkModule.h"
#include "../../../../geo/Heading.h"
#include "../../../../math/Distributions.h"
#include "../../../../sensors/pressure/ActivityButterPressure.h"
DEPREACTED
SEE WalkModuleActivityControl
struct WalkStateBarometerActivity {
/** innser-struct to prevent name-clashes */
struct Barometer {
/** activity currently detected from the baromter */
ActivityButterPressure::Activity activity;
Barometer() : activity(ActivityButterPressure::Activity::STAY) {;}
} barometer;
/** ctor */
WalkStateBarometerActivity() : barometer() {;}
};
/** favor z-transitions */
template <typename Node, typename WalkState> class WalkModuleButterActivity : public WalkModule<Node, WalkState> {
public:
/** ctor */
WalkModuleButterActivity() {
// ensure templates WalkState inherits from 'WalkStateBarometerActivity'
StaticAssert::AinheritsB<WalkState, WalkStateBarometerActivity>();
}
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;
}
double getProbability(const WalkState& state, const Node& startNode, const Node& curNode, const Node& potentialNode) const override {
(void) state;
(void) startNode;
const int deltaZ_cm = curNode.z_cm - potentialNode.z_cm;
if(state.barometer.activity == ActivityButterPressure::Activity::DOWN){
if (deltaZ_cm < 0) {return 0;}
if (deltaZ_cm == 0) {return 0.1;}
return 0.9;
} else if (state.barometer.activity == ActivityButterPressure::Activity::UP){
if (deltaZ_cm > 0) {return 0;}
if (deltaZ_cm == 0) {return 0.1;}
return 0.9;
} else {
if (deltaZ_cm == 0) {return 0.9;}
return 0.1;
}
}
};
#endif // WALKMODULEBUTTERACTIVITY_H