From cb61e0fe688e980254258e30b65786e748a2c6ab Mon Sep 17 00:00:00 2001 From: toni Date: Sat, 24 Nov 2018 17:21:49 +0100 Subject: [PATCH] tabbing... --- navMesh/walk/NavMeshWalkSimple.h | 16 ++++++++-------- smc/Particle.h | 2 +- smc/filtering/ParticleFilter.h | 20 ++++++++++---------- 3 files changed, 19 insertions(+), 19 deletions(-) diff --git a/navMesh/walk/NavMeshWalkSimple.h b/navMesh/walk/NavMeshWalkSimple.h index 11a45f7..1b53fd0 100644 --- a/navMesh/walk/NavMeshWalkSimple.h +++ b/navMesh/walk/NavMeshWalkSimple.h @@ -70,7 +70,7 @@ 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 reachable(params.start, toBeWalkedDistSafe); @@ -84,23 +84,23 @@ namespace NM { // is above destination reachable? if (dstTria) { - re.heading = params.heading; // heading was OK -> keep - re.location.pos = dstTria->toPoint3(dst); // new destination position - re.location.tria = dstTria; // new destination triangle + re.heading = params.heading; // heading was OK -> keep + re.location.pos = dstTria->toPoint3(dst); // new destination position + re.location.tria = dstTria; // new destination triangle ++hits; } else { - NavMeshRandom rnd = reachable.getRandom(); // random-helper - re.location = rnd.draw(); // get a random destianation - re.heading = Heading(params.start.pos.xy(), re.location.pos.xy()); // update the heading + NavMeshRandom rnd = reachable.getRandom(); // random-helper + re.location = rnd.draw(); // get a random destianation + re.heading = Heading(params.start.pos.xy(), re.location.pos.xy()); // update the heading ++misses; } const int total = (hits + misses); if (total % 10000 == 0) { - //std::cout << "hits: " << (hits*100/total) << "%" << std::endl; + //std::cout << "hits: " << (hits*100/total) << "%" << std::endl; } // calculate probability diff --git a/smc/Particle.h b/smc/Particle.h index f9023d3..a7093dd 100644 --- a/smc/Particle.h +++ b/smc/Particle.h @@ -29,7 +29,7 @@ namespace SMC { State state; /** the (current) probability for this state */ - double weight; + double weight; /** empty ctor */ diff --git a/smc/filtering/ParticleFilter.h b/smc/filtering/ParticleFilter.h index b48d972..8d8e824 100644 --- a/smc/filtering/ParticleFilter.h +++ b/smc/filtering/ParticleFilter.h @@ -138,13 +138,13 @@ namespace SMC { if (lastNEff < particles.size() * nEffThresholdPercent) {resampler->resample(particles); } // perform the transition step - transition->transition(particles, control); + transition->transition(particles, control); // perform the evaluation step and calculate the sum of all particle weights evaluation->evaluation(particles, observation); - // normalize the particle weights and thereby calculate N_eff - lastNEff = normalize(); + // normalize the particle weights and thereby calculate N_eff + lastNEff = normalize(); //std::cout << "normalized. n_eff is " << lastNEff << std::endl; @@ -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); @@ -171,13 +171,13 @@ 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!"); - // if the number of efficient particles is too low, perform resampling - if (lastNEff < particles.size() * nEffThresholdPercent) { resampler->resample(particles); } - //resampler->resample(particles); + // if the number of efficient particles is too low, perform resampling + if (lastNEff < particles.size() * nEffThresholdPercent) { resampler->resample(particles); } + //resampler->resample(particles); // perform the evaluation step and calculate the sum of all particle weights evaluation->evaluation(particles, observation); @@ -188,7 +188,7 @@ 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 - lastNEff = normalize(); + lastNEff = normalize(); // estimate the current state const State est = estimation->estimate(particles);