FHWS/YASMIN
Archived
3
0
Fork 0
Code Issues 12 Pull Requests Releases Wiki Activity

some adjustments to match latest changes in KLib/Indoor

Browse Source 
switched from Beacons to real Fingerprint points for fingerprinting
This commit is contained in:
FrankE
2017-03-14 09:17:50 +01:00
parent 3a1cd1bccc
commit c7c94cbebe
9 changed files with 25 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
nav/Node.h
View File

@@ -4,7 +4,7 @@
#include <Indoor/grid/Grid.h>
#include <Indoor/sensors/radio/WiFiGridNode.h>
struct MyGridNode : public GridNode, public GridPoint, public WiFiGridNode<20> {
struct MyGridNode : public GridNode, public GridPoint, public WiFiGridNode<30> {
float navImportance;
float getNavImportance() const { return navImportance; }

14
nav/NodeResampling.h
View File

@@ -59,8 +59,8 @@
particlesCopy[i].weight = cumWeight;
}
// std::uniform_real_distribution<float> distNewOne(0.0, 1.0);
// std::uniform_int_distribution<int> distRndNode(0, grid.getNumNodes()-1);
std::uniform_real_distribution<float> distNewOne(0.0, 1.0);
std::uniform_int_distribution<int> distRndNode(0, grid.getNumNodes()-1);
std::normal_distribution<float> distTurn(0.0, +0.03);
// now draw from the copy vector and fill the original one
@@ -69,11 +69,11 @@
// slight chance to get a truely random node as particle
// mainly for testing
// if (distNewOne(gen) < 0.005) {
// particles[i].state.position = grid[distRndNode(gen)];
// particles[i].weight = equalWeight;
// continue;
// }
if (distNewOne(gen) < 0.005) {
particles[i].state.position = grid[distRndNode(gen)];
particles[i].weight = equalWeight;
continue;
}
// normal redraw procedure
particles[i] = draw(cumWeight);