FHWS/YASMIN
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app geht. optimierung spinnt noch weng

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This commit is contained in:
toni
2018-07-17 14:59:39 +02:00
parent e6ede27212
commit 2bb3fb8f82
8 changed files with 90 additions and 47 deletions
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2
nav/mesh/FilterMesh.h
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@@ -193,7 +193,7 @@ namespace MeshBased {
const double pStair = getStairProb(p, observation.activity);
const double pGPS = 1;
const double prob = pWifi * pStair * pGPS;
const double prob = pWifi; // * pStair * pGPS;
p.weight *= prob;
if (p.weight != p.weight) {throw Exception("nan");}

11
nav/mesh/NavControllerMesh.cpp
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@@ -42,9 +42,9 @@ MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floo
//std::unique_ptr<SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5));
// resampling
//std::unique_ptr<SMC::ParticleFilterResamplingSimple<MyState>> resample(new SMC::ParticleFilterResamplingSimple<MyState>());
std::unique_ptr<SMC::ParticleFilterResamplingSimple<MyState>> resample(new SMC::ParticleFilterResamplingSimple<MyState>());
//std::unique_ptr<SMC::ParticleFilterResamplingPercent<MyState>> resample(new SMC::ParticleFilterResamplingPercent<MyState>(0.05));
std::unique_ptr<SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>> resample(new SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>());
//std::unique_ptr<SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>> resample(new SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>());
// eval and transition
std::unique_ptr<SMC::ParticleFilterEvaluation<MyState, MyObservation>> eval(new MeshBased::PFEval(wifiModel));
@@ -218,16 +218,17 @@ void MeshBased::NavControllerMesh::gotSensorData(const Timestamp ts) {
// as the difference is slightly above the 500ms, calculate the error and incorporate it into the next one
const Timestamp err = diff - Settings::Filter::updateEvery;
lastTransition = curObs.currentTime - err;
lastTransition = curObs.currentTime;
const Timestamp ts1 = Timestamp::fromUnixTime();
filterUpdate();
const Timestamp ts2 = Timestamp::fromUnixTime();
const Timestamp tsDiff = ts2-ts1;
const QString filterTime = QString::number(tsDiff.ms());
const QString filterTime = QString::number(diff.ms());
avgSum += tsDiff.ms(); ++avgCount;
//Log::add("xxx", "ts:" + std::to_string(curObs.currentTime.ms()) + " avg:" + std::to_string(avgSum/avgCount));
QMetaObject::invokeMethod(mainController->getInfoWidget(), "showFilterTime", Qt::QueuedConnection, Q_ARG(const QString&, filterTime));
QMetaObject::invokeMethod(mainController->getInfoWidget(), "showFilterTime", Qt::QueuedConnection, Q_ARG(const QString&, filterTime));
return true;
} else {