FHWS/YASMIN
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little parameter changes while testing performance

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This commit is contained in:
toni
2016-10-01 17:08:21 +02:00
parent 5eb8486bff
commit a4a8593023
6 changed files with 13 additions and 6 deletions
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6
Controller.cpp
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@@ -188,6 +188,12 @@ void Controller::onLoadButton() {
im = Floorplan::Reader::readFromString(str.toStdString());
//just for debugging and testing in SHL REMOVE THAT LATER IMPORTANT!!!!
// im->floors[0]->obstacles.clear();
// im->floors[1]->obstacles.clear();
// im->floors[2]->obstacles.clear();
// im->floors[3]->obstacles.clear();
const std::string sGrid = fGrid.fileName().toStdString();
std::ifstream inp(sGrid, std::ifstream::binary);

4
Settings.h
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@@ -8,12 +8,12 @@
namespace Settings {
const int numParticles = 5000;
const int numParticles = 5000;
namespace IMU {
const float turnSigma = 1.5; // 3.5
const float stepLength = 0.80;
const float stepSigma = 0.20;
const float stepSigma = 0.40; //toni changed
}
const float smartphoneAboveGround = 1.3;

4
ipin/StepLoggerWrapperAndroid.h
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@@ -50,7 +50,9 @@ private:
#ifdef ANDROID
//Log::add("SLWA", "calling android with lon/lat/floor");
int res = QAndroidJniObject::callStaticMethod<int>("indoor/java/StepLoggerClient", "log", "(DDD)I", x, y, std::round(z));
double rounded_z = std::round(z);
int res = QAndroidJniObject::callStaticMethod<int>("indoor/java/StepLoggerClient", "log", "(DDD)I", x, y, rounded_z);
//if (res != 1337) {throw Exception("invalid return code while sending the current position to StepLogger.\nService Down?");}
#endif

2
nav/Filter.h
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@@ -206,7 +206,7 @@ public:
const WiFiMeasurements wifiObs = vg.group(_observation.wifi);
const int numAP2 = wifiObs.entries.size();
//Log::add("Filter", "VAP: " + std::to_string(numAP1) + " -> " + std::to_string(numAP2));
Log::add("Filter", "VAP: " + std::to_string(numAP1) + " -> " + std::to_string(numAP2));
// sanity check
Assert::equal((int)particles.size(), Settings::numParticles, "number of particles does not match the settings!");

2
nav/NavController.h
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@@ -105,7 +105,7 @@ public:
pf->setEstimation(std::move(estimation));
pf->setResampling(std::move(resample));
pf->setNEffThreshold(0.75);
pf->setNEffThreshold(0.85); //before 0.75, edit by toni
//pf->setNEffThreshold(0.65); // still too low?
//pf->setNEffThreshold(0.25); // too low

1
sensors/StepSensor.h
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@@ -46,7 +46,6 @@ public:
const bool step = sd.add(ts, data);
if (step) {
informListeners(ts, StepData(1));
Log::add("Step", "Step Detected!" + std::to_string(ts.ms()));
}
}