FHWS/YASMIN
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Merge branch 'master' of https://git.frank-ebner.de/FHWS/YASMIN

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toni
2016-10-01 13:29:05 +02:00
parent 302c2deb02 5b0e3bbeb3
commit 5eb8486bff
1 changed files with 4 additions and 3 deletions
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7
nav/Filter.h
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@@ -132,9 +132,10 @@ public:
//p.weight *= prob;//(prob > 0.01) ? (1.0) : (0.15); //p.weight *= prob;//(prob > 0.01) ? (1.0) : (0.15);
//p.weight = (prob > 0.01) ? (1.0) : (0.15); //p.weight = (prob > 0.01) ? (1.0) : (0.15);
//p.weight = prob; //p.weight = prob;
p.weight = 1.0; // reset //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(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 *= std::pow(prob, 0.1); // add grid-walk-probability
p.weight = prob; // grid-walk-probability
if (p.weight != p.weight) {throw Exception("nan");} if (p.weight != p.weight) {throw Exception("nan");}
} }