From 5b0e3bbeb33779d28f4e3012ecd6d598097b9276 Mon Sep 17 00:00:00 2001 From: kazu Date: Sat, 1 Oct 2016 13:19:41 +0200 Subject: [PATCH] particle-trap change --- nav/Filter.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/nav/Filter.h b/nav/Filter.h index f30007e..474558d 100644 --- a/nav/Filter.h +++ b/nav/Filter.h @@ -132,9 +132,10 @@ public: //p.weight *= prob;//(prob > 0.01) ? (1.0) : (0.15); //p.weight = (prob > 0.01) ? (1.0) : (0.15); //p.weight = prob; - p.weight = 1.0; // reset - p.weight = std::pow(p.weight, 0.1); // make all particles a little more equal [less strict] - p.weight *= std::pow(prob, 0.1); // add grid-walk-probability + //p.weight = 1.0; // reset + //p.weight = std::pow(p.weight, 0.1); // make all particles a little more equal [less strict] + //p.weight *= std::pow(prob, 0.1); // add grid-walk-probability + p.weight = prob; // grid-walk-probability if (p.weight != p.weight) {throw Exception("nan");} }