FrankE
a203305628
- changed the wifi-estimation api - adjusted test-cases - worked on grid-bulding and grid-importance - new walking modules - fixed some minor issues
76 lines
1.6 KiB
C++
76 lines
1.6 KiB
C++
#ifndef WIFIPROBABILITYFREE_H
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#define WIFIPROBABILITYFREE_H
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#include "WiFiProbability.h"
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#include "model/WiFiModel.h"
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#include "../../math/Distributions.h"
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#include <unordered_map>
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/**
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* compare WiFi-Measurements within predictions of a given model.
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* predictions are just based on the distance to the access-point.
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*/
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class WiFiObserverFree : public WiFiProbability {
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private:
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const float sigma = 8.0f;
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const float sigmaPerSecond = 1.5f;
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/** the RSSI prediction model */
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WiFiModel& 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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WiFiObserverFree(const float sigma, WiFiModel& model) : sigma(sigma), model(model) {
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}
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double getProbability(const Point3& pos, const Timestamp curTime, const WiFiMeasurements& obs) const {
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double prob = 1.0;
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// process each measured AP
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for (const WiFiMeasurement& entry : obs.entries) {
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// get the model's RSSI (if possible!)
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const float modelRSSI = model.getRSSI(entry.getAP().getMAC(), pos);
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// NaN? -> AP not known to the model -> skip
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if (modelRSSI != modelRSSI) {continue;}
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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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// 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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}
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return prob;
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}
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template <typename Node> double getProbability(const Node& n, const Timestamp curTime, const WiFiMeasurements& obs, const int age_ms = 0) const {
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throw "todo??";
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}
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};
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#endif // WIFIPROBABILITYFREE_H
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