FrankE
a2c9e575a2
- worked on about everything - grid walker using plugable modules - wifi models - new distributions - worked on geometric data-structures - added typesafe timestamps - worked on grid-building - added sensor-classes - added sensor analysis (step-detection, turn-detection) - offline data reader - many test-cases
78 lines
1.8 KiB
C++
78 lines
1.8 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 LIVE (exact) predictions
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* 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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WiFiModel& model;
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std::unordered_map<MACAddress, LocatedAccessPoint> aps;
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Floorplan::IndoorMap* map;
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public:
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WiFiObserverFree(const float sigma, WiFiModel& model, const std::vector<LocatedAccessPoint>& aps) : sigma(sigma), model(model) {
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for (const LocatedAccessPoint& ap : aps) {
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this->aps.insert(std::pair<MACAddress, LocatedAccessPoint>(ap.getMAC(), ap));
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}
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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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for (const WiFiMeasurement& entry : obs.entries) {
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auto it = aps.find(entry.getAP().getMAC());
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// AP is unknown
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if (it == aps.end()) {continue;}
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// get the AP
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const LocatedAccessPoint& ap = it->second;
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// model and scan rssi
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const float modelRSSI = model.getRSSI(ap, pos);
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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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