86 lines
2.0 KiB
C
86 lines
2.0 KiB
C
#ifndef STATE_H
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#define STATE_H
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#include <Indoor/grid/walk/v2/GridWalker.h>
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#include <Indoor/grid/walk/v2/modules/WalkModuleActivityControl.h>
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#include <Indoor/grid/walk/v2/modules/WalkModuleHeadingControl.h>
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#include <Indoor/grid/walk/v2/modules/WalkModuleNodeImportance.h>
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#include <Indoor/grid/walk/v2/modules/WalkModuleFavorZ.h>
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#include <Indoor/sensors/radio/WiFiMeasurements.h>
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#include <Indoor/sensors/gps/GPSData.h>
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struct MyState : public WalkState, public WalkStateFavorZ, public WalkStateHeading {
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/** ctor */
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MyState(const int x_cm, const int y_cm, const int z_cm) : WalkState(GridPoint(x_cm, y_cm, z_cm)), WalkStateHeading(Heading(0), 0) {
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;
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}
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MyState() : WalkState(GridPoint()), WalkStateHeading(Heading(0), 0) {
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;
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}
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MyState& operator += (const MyState& o) {
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position += o.position;
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return *this;
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}
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MyState& operator /= (const float val) {
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position /= val;
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return *this;
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}
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MyState operator * (const float val) const {
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MyState copy = *this;
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copy.position = copy.position * val;
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return copy;
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}
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};
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/** observed sensor data */
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struct MyObservation {
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/** wifi measurements */
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WiFiMeasurements wifi;
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/** gps measurements */
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GPSData gps;
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// TODO: switch to a general activity enum/detector for barometer + accelerometer + ...?
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/** detected activity */
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ActivityButterPressure::Activity activity;
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/** time of evaluation */
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Timestamp currentTime;
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};
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/** (observed) control data */
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struct MyControl {
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/** turn angle (in radians) since the last transition */
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float turnSinceLastTransition_rad = 0;
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/** number of steps since the last transition */
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int numStepsSinceLastTransition = 0;
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// TODO: switch to a general activity enum/detector using barometer + accelerometer?
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/** currently detected activity */
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ActivityButterPressure::Activity activity;
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/** reset the control-data after each transition */
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void resetAfterTransition() {
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turnSinceLastTransition_rad = 0;
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numStepsSinceLastTransition = 0;
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}
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};
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#endif // STATE_H
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