FHWS/YASMIN
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fixed some minor bugs using ble on android

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added BLE to the evaluation of the particle filter
made first evaluation inside fhws
This commit is contained in:
mail@toni-fetzer.de
2019-06-10 16:58:24 +02:00
parent ef6066ae14
commit 7fe0f22a6e
9 changed files with 311 additions and 231 deletions
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8
nav/mesh/NavControllerMesh.cpp
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@@ -31,11 +31,13 @@
#include "Settings.h"
#include "../Controller.h"
Q_DECLARE_METATYPE(const void*)
/** ctor */
MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floorplan::IndoorMap* im, NM::NavMesh<NM::NavMeshTriangle>* navMesh, WiFiModel* wifiModel) :
NavController(mainController, im), navMesh(navMesh), wifiModel(wifiModel) {
MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floorplan::IndoorMap* im, NM::NavMesh<NM::NavMeshTriangle>* navMesh, WiFiModel* wifiModel, BeaconModel* bleModel) :
NavController(mainController, im), navMesh(navMesh), wifiModel(wifiModel), bleModel(bleModel) {
// filter init
std::unique_ptr<SMC::ParticleFilterInitializer<MeshBased::MyState>> init(new MeshBased::PFInit(navMesh));
@@ -54,7 +56,7 @@ MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floo
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));
std::unique_ptr<SMC::ParticleFilterEvaluation<MyState, MyObservation>> eval(new MeshBased::PFEval(wifiModel, bleModel));
std::unique_ptr<SMC::ParticleFilterTransition<MyState, MyControl>> transition(new MeshBased::PFTrans(navMesh));
// setup the filter