FHWS/OTHER2017
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This commit is contained in:
FrankE
2017-04-01 09:13:45 +02:00
parent e718dc8cca
commit 6171582b40
6 changed files with 85 additions and 30 deletions
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14
pf/PF.h
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@@ -21,6 +21,7 @@
#include <Indoor/grid/walk/v2/modules/WalkModuleFavorZ.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleActivityControl.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleFollowDestination.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleAbsoluteHeadingControl.h>
#include "../Settings.h"
@@ -108,7 +109,7 @@ struct MyControl {
int numStepsSinceLastTransition = 0;
/** absolute heading in radians */
float compass_azimuth = 0;
float compassAzimuth_rad = 0;
// TODO: switch to a general activity enum/detector using barometer + accelerometer?
/** currently detected activity */
@@ -163,19 +164,24 @@ public:
GridWalker<MyGridNode, MyState> walker;
WalkModuleFavorZ<MyGridNode, MyState> modFavorZ;
WalkModuleHeadingControl<MyGridNode, MyState, MyControl> modHeading;
WalkModuleNodeImportance<MyGridNode, MyState> modImportance;
WalkModuleFollowDestination<MyGridNode, MyState> modDestination;
WalkModuleActivityControl<MyGridNode, MyState, MyControl> modActivity;
WalkModuleHeadingControl<MyGridNode, MyState, MyControl> modRelHead;
WalkModuleAbsoluteHeadingControl<MyGridNode, MyState, MyControl> modAbsHead;
std::minstd_rand gen;
public:
PFTrans(Grid<MyGridNode>* grid) : grid(grid), modHeading(&ctrl, Settings::IMU::turnSigma), modDestination(*grid), modActivity(&ctrl) {
PFTrans(Grid<MyGridNode>* grid) : grid(grid), modRelHead(&ctrl, Settings::IMU::turnSigma), modAbsHead(&ctrl, Settings::IMU::absHeadSigma), modDestination(*grid), modActivity(&ctrl) {
walker.addModule(&modRelHead);
walker.addModule(&modAbsHead);
//walker.addModule(&modFavorZ);
walker.addModule(&modHeading);
//walker.addModule(&modImportance);
//walker.addModule(&modActivity);