96c63ac3ec
had to change the parameter boundaries of the wifi optimizer to be able to use it for bluetooth... this should be refactored to something more generic.. some minor changes in ble
105 lines
3.1 KiB
C++
105 lines
3.1 KiB
C++
/*
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* © Copyright 2014 – Urheberrechtshinweis
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* Alle Rechte vorbehalten / All Rights Reserved
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*
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* Programmcode ist urheberrechtlich geschuetzt.
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* Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
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* Keine Verwendung ohne explizite Genehmigung.
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* (vgl. § 106 ff UrhG / § 97 UrhG)
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*/
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#ifndef BEACONPROBABILITYFREE_H
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#define BEACONPROBABILITYFREE_H
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#include "BeaconProbability.h"
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#include "BeaconMeasurements.h"
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#include "model/BeaconModel.h"
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#include "../../math/distribution/Normal.h"
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#include "../../data/Timestamp.h"
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#include "../../floorplan/v2/Floorplan.h"
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#include <unordered_map>
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/**
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* compare BeaconMeasurements within predictions of a given model.
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* predictions are just based on the distance to the observed beacon.
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*/
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class BeaconObserverFree : public BeaconProbability {
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private:
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const float sigma = 10.0f;
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const float sigmaPerSecond = 3.0f;
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/** the RSSI prediction model */
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BeaconModel& model;
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/** the map's floorplan */
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Floorplan::IndoorMap* map;
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public:
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/** ctor */
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BeaconObserverFree(const float sigma, BeaconModel& model) : sigma(sigma), model(model) {
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}
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/** provides the probability for a specific point in space */
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double getProbability(const Point3& pos_m, const Timestamp curTime, const BeaconMeasurements& obs) const {
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double prob = 1.0;
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int numMatchingBeacons = 0;
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// process each measured AP
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for (const BeaconMeasurement& entry : obs.entries) {
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// sanity check
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Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
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// updating the beacons sended txp if available
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if(entry.getBeacon().getTXP() != 0.0f){
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//TODO: check if this works
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//model.updateBeacon(entry);
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}
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// get the model's RSSI (if possible!)
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const float modelRSSI = model.getRSSI(entry.getBeacon().getMAC(), pos_m);
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// NaN? -> AP not known to the model -> skip
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if (modelRSSI != modelRSSI) {
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continue;
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}
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// the scan's RSSI
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const float scanRSSI = entry.getRSSI();
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// the measurement's age
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const Timestamp age = curTime - entry.getTimestamp();
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Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
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Assert::isTrue(age.ms() <= 40000, "found a 40 second old wifi measurement. maybe there is a coding error?");
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// sigma grows with measurement age
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const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
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// update probability
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prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
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//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
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++numMatchingBeacons;
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}
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// sanity check
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//Assert::isTrue(numMatchingBeacons > 0, "not a single measured Beacon was matched against known ones. coding error? model error?");
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return prob;
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}
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};
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#endif // WIFIPROBABILITYFREE_H
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