From db7c0e310ef6c7278905c8906a2bb6f37d1775a9 Mon Sep 17 00:00:00 2001
From: toni <toni@localhost.localdomain>
Date: Thu, 19 Jul 2018 10:29:51 +0200
Subject: [PATCH] small changes so it works with yasmin

---
 navMesh/walk/NavMeshWalkSimple.h               | 10 +++++-----
 .../resampling/ParticleFilterResampling.h      |  8 ++++----
 .../ParticleFilterResamplingPercent.h          | 18 +++++++-----------
 ...ticleFilterResamplingSimpleImpoverishment.h |  4 ++--
 tests/math/dsp/TestFIRComplex.cpp              |  2 +-
 5 files changed, 19 insertions(+), 23 deletions(-)

diff --git a/navMesh/walk/NavMeshWalkSimple.h b/navMesh/walk/NavMeshWalkSimple.h
index 8487be3..c224427 100644
--- a/navMesh/walk/NavMeshWalkSimple.h
+++ b/navMesh/walk/NavMeshWalkSimple.h
@@ -73,15 +73,15 @@ 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<Tria> rnd = reachable.getRandom();					// random-helper
-				re.location = rnd.draw();											// get a random destianation
+                                NavMeshRandom<Tria> 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;
 
diff --git a/smc/filtering/resampling/ParticleFilterResampling.h b/smc/filtering/resampling/ParticleFilterResampling.h
index 906e91f..b62bfc3 100644
--- a/smc/filtering/resampling/ParticleFilterResampling.h
+++ b/smc/filtering/resampling/ParticleFilterResampling.h
@@ -24,10 +24,10 @@ namespace SMC {
 
 	public:
 
-		/**
-		 * perform resampling on the given particle-vector
-		 * @param particles the vector of all particles to resample
-		 */
+        /**
+         * perform resampling on the given particle-vector
+         * @param particles the vector of all particles to resample
+         */
         virtual void resample(std::vector<Particle<State>>& particles) = 0;
 
         /**
diff --git a/smc/filtering/resampling/ParticleFilterResamplingPercent.h b/smc/filtering/resampling/ParticleFilterResamplingPercent.h
index 42ec764..c992d5a 100644
--- a/smc/filtering/resampling/ParticleFilterResamplingPercent.h
+++ b/smc/filtering/resampling/ParticleFilterResamplingPercent.h
@@ -42,29 +42,25 @@ namespace SMC {
 
 
 			// to-be-removed region
-			const int start = particles.size() * (1-percent);
-			const int end = particles.size();
+                        const int start = particles.size() * (1-percent);
+                        const int end = particles.size();
 			std::uniform_int_distribution<int> dist(0, start-1);
 
 			// remove by re-drawing
 			for (uint32_t i = start; i < end; ++i) {
 				const int rnd = dist(gen);
 				particles[i] = particles[rnd];
-				particles[i].weight /= 2;
-				particles[rnd].weight /= 2;
+                                //particles[i].weight /= 2;
+                                //particles[rnd].weight /= 2;
 			}
 
 			// calculate weight-sum
 			double weightSum = 0;
-			for (const auto& p : particles) {
+                        double equalweight = 1.0 / (double) cnt;
+                        for (auto& p : particles) {
 				weightSum += p.weight;
+                                p.weight = equalweight;
 			}
-
-
-			int i = 0;
-
-
-
 		}
 
 	private:
diff --git a/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h b/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
index d0ad049..5144135 100644
--- a/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
+++ b/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
@@ -77,8 +77,8 @@ namespace SMC {
                                 // slight chance to get a truely random particle in range X m
                                 if (distNewOne(gen) < 0.001) {
                                     const double radius = 50.0;
-                                    const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.pos, radius);
-                                    particles[i].state.pos = reachable.getRandom().drawWithin(particlesCopy[i].state.pos.pos, radius);
+                                    const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.loc, radius);
+                                    particles[i].state.loc = reachable.getRandom().drawWithin(particlesCopy[i].state.loc.pos, radius);
                                     particles[i].weight = equalWeight;
                                     continue;
                                 }
diff --git a/tests/math/dsp/TestFIRComplex.cpp b/tests/math/dsp/TestFIRComplex.cpp
index 8b667e4..ed91ff4 100644
--- a/tests/math/dsp/TestFIRComplex.cpp
+++ b/tests/math/dsp/TestFIRComplex.cpp
@@ -2,7 +2,7 @@
 
 #include <fstream>
 #include "../../Tests.h"
-#include "../../../math/dsp/FIRComplex.h"
+#include "../../../math/dsp/fir/Complex.h"
 #include <random>