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changes in kld walker

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toni
2018-07-12 11:11:11 +02:00
parent b50995ffe6
commit d96f0588c2
5 changed files with 23 additions and 13 deletions
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2
navMesh/walk/NavMeshWalkKLD.h
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@@ -81,7 +81,7 @@ namespace NM {
// to-be-walked distance; // to-be-walked distance;
const float toBeWalkedDist = params.getToBeWalkedDistance(); const float toBeWalkedDist = params.getToBeWalkedDistance();
const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1; const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
const float toBeWalkedDistKld = (kld * qualityWifi); const float toBeWalkedDistKld = (kld * qualityWifi);
// construct reachable region // construct reachable region
NavMeshSub<Tria> reachable(params.start, toBeWalkedDistKld); //EDIT HERE: ADD TOBEWALKDISTKLD... NavMeshSub<Tria> reachable(params.start, toBeWalkedDistKld); //EDIT HERE: ADD TOBEWALKDISTKLD...

2
navMesh/walk/NavMeshWalkSimple.h
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@@ -59,7 +59,7 @@ namespace NM {
// to-be-walked distance; // to-be-walked distance;
const float toBeWalkedDist = params.getToBeWalkedDistance(); const float toBeWalkedDist = params.getToBeWalkedDistance();
const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1; const float toBeWalkedDistSafe = 0.75 + toBeWalkedDist * 1.1;
// construct reachable region // construct reachable region
NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe); NavMeshSub<Tria> reachable(params.start, toBeWalkedDistSafe);

2
sensors/radio/setup/WiFiOptimizerLogDistCeiling.h
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@@ -146,7 +146,7 @@ namespace WiFiOptimizer {
return false; return false;
}; };
const APFilter MIN_2_FPS = [] (const Stats& stats, const MACAddress& mac) { const APFilter MIN_2_FPS = [] (const Stats& stats, const MACAddress& mac) {
(void) mac; (void) mac;
return stats.usedFingerprins < 2; return stats.usedFingerprins < 2;
}; };

21
smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
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@@ -46,7 +46,7 @@ namespace SMC {
// compile-time sanity checks // compile-time sanity checks
// TODO: this solution requires EXPLICIT overloading which is bad... // TODO: this solution requires EXPLICIT overloading which is bad...
// static_assert( HasOperatorAssign<State>::value, "your state needs an assignment operator!" ); // static_assert( HasOperatorAssign<State>::value, "your state needs an assignment operator!" );
const uint32_t cnt = (uint32_t) particles.size(); const uint32_t cnt = (uint32_t) particles.size();
@@ -67,20 +67,21 @@ namespace SMC {
particlesCopy[i].weight = cumWeight; particlesCopy[i].weight = cumWeight;
} }
// randomness for drawing particles // randomness for drawing particles
std::uniform_real_distribution<float> distNewOne(0.0, 1.0); std::uniform_real_distribution<float> distNewOne(0.0, 1.0);
// now draw from the copy vector and fill the original one // now draw from the copy vector and fill the original one
// with the resampled particle-set // with the resampled particle-set
for (uint32_t i = 0; i < cnt; ++i) { for (uint32_t i = 0; i < cnt; ++i) {
// slight chance to get a truely particle in range X m // slight chance to get a truely random particle in range X m
if (distNewOne(gen) < 0.001) { if (distNewOne(gen) < 0.001) {
const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.pos, 10.0); const double radius = 50.0;
particles[i].state.pos = reachable.getRandom().drawWithin(particlesCopy[i].state.pos.pos, 10.0); const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.pos, radius);
particles[i].weight = equalWeight; particles[i].state.pos = reachable.getRandom().drawWithin(particlesCopy[i].state.pos.pos, radius);
continue; particles[i].weight = equalWeight;
} continue;
}
particles[i] = draw(cumWeight); particles[i] = draw(cumWeight);
particles[i].weight = equalWeight; particles[i].weight = equalWeight;

9
smc/smoothing/FastKDESmoothing.h
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@@ -210,6 +210,15 @@ namespace SMC {
BoxGaus<float> boxGaus; BoxGaus<float> boxGaus;
boxGaus.approxGaus(grid.image(), sigmaX, sigmaY, nFilt); boxGaus.approxGaus(grid.image(), sigmaX, sigmaY, nFilt);
/**
* Das hier wird nicht funktionieren!
* Wir machen eine Transition von t zu t+1 und nehmen dann diese position um von der kde aus t+1 ein
* Gewicht zu erhalten... aber das bringt ja nichts, diese Gewicht haben wir doch schon auf den partikeln in t+1
* die transition macht ja nicht 2x was anderes, sondern wieder genau das gleiche.
* was das smoothing gut macht, sind die Faltungen mit allen Partikeln (jeder mit jedem vergleichen).
**/
// Apply Position from Samples from q_t+1* into KDE of p(q_t+1 | o_1:T) to get p(q_t+1* | o_1:T) // Apply Position from Samples from q_t+1* into KDE of p(q_t+1 | o_1:T) to get p(q_t+1* | o_1:T)
// Calculate new weight w(q_(t|T)) = w(q_t) * p(q_t+1* | o_1:T) * p(q_t+1* | q_t) * normalisation // Calculate new weight w(q_(t|T)) = w(q_t) * p(q_t+1* | o_1:T) * p(q_t+1* | q_t) * normalisation
smoothedParticles = forwardHistory.getParticleSet(i); smoothedParticles = forwardHistory.getParticleSet(i);