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Code Issues 12 Pull Requests Releases Wiki Activity

updated sensors and filter to current code version

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removed KLib stuff
added new activity
filter is uncommand!
at the moment, the app is not able to load new maps and breaks using old maps
This commit is contained in:
toni
2018-07-12 18:39:27 +02:00
parent b4a1a3d969
commit 625f5fe04d
22 changed files with 325 additions and 261 deletions
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29
nav/grid/NavControllerGrid.cpp
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@@ -21,25 +21,25 @@ Q_DECLARE_METATYPE(const void*)
GridBased::NavControllerGrid::NavControllerGrid(Controller* mainController, Floorplan::IndoorMap* im, Grid<MyGridNode>* grid) : NavController(mainController, im), grid(grid), wifiModel(im) {
// filter init
std::unique_ptr<K::ParticleFilterInitializer<MyState>> init(new PFInit(grid));
std::unique_ptr<SMC::ParticleFilterInitializer<MyState>> init(new PFInit(grid));
// estimation
//std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationWeightedAverage<MyState>());
std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5));
// estimation
//std::unique_ptr<SMC::ParticleFilterEstimationWeightedAverage<MyState>> estimation(new SMC::ParticleFilterEstimationWeightedAverage<MyState>());
std::unique_ptr<SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5));
// resampling
std::unique_ptr<NodeResampling<MyState, MyGridNode>> resample(new NodeResampling<MyState, MyGridNode>(*grid));
//std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>> resample(new K::ParticleFilterResamplingSimple<MyState>());
//std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>> resample(new K::ParticleFilterResamplingPercent<MyState>(0.05));
//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<RegionalResampling> resample(new RegionalResampling());
// eval and transition
wifiModel.loadAPs(im, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
std::unique_ptr<K::ParticleFilterEvaluation<MyState, MyObservation>> eval(new PFEval(grid, wifiModel));
std::unique_ptr<K::ParticleFilterTransition<MyState, MyControl>> transition(new PFTrans(grid));
std::unique_ptr<SMC::ParticleFilterEvaluation<MyState, MyObservation>> eval(new PFEval(grid, wifiModel));
std::unique_ptr<SMC::ParticleFilterTransition<MyState, MyControl>> transition(new PFTrans(grid));
// setup the filter
pf = std::unique_ptr<K::ParticleFilter<MyState, MyControl, MyObservation>>(new K::ParticleFilter<MyState, MyControl, MyObservation>(Settings::numParticles, std::move(init)));
pf = std::unique_ptr<SMC::ParticleFilter<MyState, MyControl, MyObservation>>(new SMC::ParticleFilter<MyState, MyControl, MyObservation>(Settings::numParticles, std::move(init)));
pf->setTransition(std::move(transition));
pf->setEvaluation(std::move(eval));
pf->setEstimation(std::move(estimation));
@@ -56,7 +56,7 @@ GridBased::NavControllerGrid::NavControllerGrid(Controller* mainController, Floo
SensorFactory::get().getWiFi().addListener(this);
SensorFactory::get().getSteps().addListener(this);
SensorFactory::get().getTurns().addListener(this);
//SensorFactory::get().getActivity().addListener(this);
SensorFactory::get().getActivity().addListener(this);
}
@@ -141,6 +141,15 @@ void GridBased::NavControllerGrid::onSensorData(Sensor<TurnData>* sensor, const
gotSensorData(ts);
}
void GridBased::NavControllerGrid::onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) {
(void) sensor;
(void) ts;
curCtrl.activity = data.curActivity;
curObs.activity = data.curActivity;
//debugActivity(data.curActivity);
gotSensorData(ts);
}
/** called when any sensor has received new data */
void GridBased::NavControllerGrid::gotSensorData(const Timestamp ts) {
curObs.currentTime = ts;