FHWS/Indoor
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added missing code changes

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started working on refactoring of sensors
new test-cases
This commit is contained in:
FrankE
2016-03-17 17:28:41 +01:00
parent 6346231a64
commit f8d7f768f1
18 changed files with 524 additions and 74 deletions
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10
grid/walk/GridWalkSimpleControl.h
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@@ -47,11 +47,13 @@ public:
static Distribution::Normal<float> dHead(1, 0.01);
// proportional change of the to-be-walked distance
static Distribution::Normal<float> dWalk(1, 0.50);
static Distribution::Normal<float> dWalk(1, 0.10);
distance_m = distance_m*dWalk.draw()*2; // TODO: why *2?
distance_m = distance_m*dWalk.draw()*1.4; // TODO: why * X?
headChange_rad = headChange_rad*dHead.draw();
static Distribution::Normal<float> sWalk(0, 0.10);
if (distance_m == 0) { distance_m = std::abs( sWalk.draw() ); }
return walk(grid, start, distance_m, headChange_rad);
@@ -79,8 +81,8 @@ private:
// const double angleProb = (diff <= Angle::degToRad(15)) ? 1 : 0.1; // favor best 3 angles equally
// nodes own importance
//const double nodeProb = Distribution::Logistic<float>::getCDF(possible.imp, 1, 0.5);
const double nodeProb = std::pow(possible.imp, 5);
const double nodeProb = Distribution::Logistic<float>::getCDF(possible.imp, 1, 0.9);
//const double nodeProb = std::pow(possible.imp, 2);
//const double nodeProb = 1.0;
// bring it together