From 232175c3dcb6a9524d7828d413f30a507f36888a Mon Sep 17 00:00:00 2001
From: toni <toni@localhost.localdomain>
Date: Tue, 17 Oct 2017 16:53:02 +0200
Subject: [PATCH] Closes #3 integrated new testdata with wifidongles

---
 Settings.h     |  6 +++++-
 filter/Logic.h |  8 ++++----
 main.cpp       | 21 ++++++++++++++++++---
 3 files changed, 27 insertions(+), 8 deletions(-)

diff --git a/Settings.h b/Settings.h
index 2d519f5..90f53aa 100644
--- a/Settings.h
+++ b/Settings.h
@@ -49,7 +49,7 @@ namespace Settings {
 		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
         constexpr float TXP = -40;
         constexpr float EXP = 2.3;
-        constexpr float WAF = 0.0;
+        constexpr float WAF = -8.0;
 
         // how to perform VAP grouping. see
         // - calibration in Controller.cpp
@@ -81,6 +81,10 @@ namespace Settings {
         const std::vector<int> path1 = {0, 1, 2, 3, 4, 5, 6};
         const std::vector<int> path2 = {6, 5, 4, 7, 8, 9, 8, 10};
         const std::vector<int> path3 = {10, 8, 7, 4, 11, 12, 13, 14, 6};
+        const std::vector<int> path4 = {0, 1, 2, 3, 4, 5, 6, 71, 7, 8, 9, 10};
+        const std::vector<int> path5 = {40, 41, 85, 117, 31, 32, 33, 34, 35, 36, 37, 12, 3, 4, 5, 6, 71};
+        const std::vector<int> path6 = {28, 27, 26, 25, 24, 23, 22, 21, 20, 1, 2, 3, 4, 5, 6, 5};
+
     }
 
 }
diff --git a/filter/Logic.h b/filter/Logic.h
index 5830568..4b93fd2 100644
--- a/filter/Logic.h
+++ b/filter/Logic.h
@@ -251,7 +251,7 @@ struct PFTransKLDSampling : public K::ParticleFilterTransition<MyState, MyContro
         //walker.addModule(&modSpread);				// might help in some situations! keep in mind!
         //walker.addModule(&modActivity);
         //walker.addModule(&modHeadUgly);
-        walker.addModule(&modImportance);
+        //walker.addModule(&modImportance);
         //walker.addModule(&modFavorZ);
         //walker.addModule(&modButterAct);
         //walker.addModule(&modWifi);
@@ -513,9 +513,9 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
             Point3 posOld_m = p.state.positionOld.inMeter();
 
             double pWifi = getWIFI(observation, wifiObs, p.state.position);
-            const double pBaroPressure = getStairProb(p, observation.activity);
+            const double pStairProb = getStairProb(p, observation.activity);
             const double pStepDistance = getStepDistanceProb(pos_m, posOld_m);
-            //const double pBaroPressure = getBaroPressure(observation, p.state.relativePressure);
+            const double pBaroPressure = getBaroPressure(observation, p.state.relativePressure);
             //const double pBeacon = getBEACON(observation, p.state.position);
 
             //small checks
@@ -532,7 +532,7 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
                 //p.weight = std::pow(p.weight, 0.5);
             }
 
-            const double prob = pWifi * pStepDistance;// * pBaroPressure;
+            const double prob = pWifi * pBaroPressure * pStairProb;
 
             p.weight = prob;
 
diff --git a/main.cpp b/main.cpp
index feb3e4f..80263c4 100755
--- a/main.cpp
+++ b/main.cpp
@@ -52,8 +52,23 @@ struct Data {
         mapDir + "grid_Stock_2_01.dat"
     };
 
-} data;
+    DataSetup FloorOneToThree = {
 
+        mapDir + "SHL_Stock_1-3_03.xml",
+
+        {
+            dataDir + "Path4_0.csv",
+            dataDir + "Path5_0.csv",
+            dataDir + "Path6_0.csv",
+        },
+
+        mapDir + "wifi_fp_all.dat",
+        40,
+        VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
+        mapDir + "grid_Stock_1-3_03.dat"
+    };
+
+} data;
 
 Floorplan::IndoorMap* MyState::map;
 
@@ -389,9 +404,9 @@ int main(int argc, char** argv) {
     K::Statistics<float> statsQuantil;
     K::Statistics<float> tmp;
 
-    for(int i = 0; i < 1; ++i){
+    for(int i = 0; i < 10; ++i){
 
-        tmp = run(data.SecondFloorOnly, 2, "Wifi-Dongle-Test", Settings::Path_DongleTest::path3);
+        tmp = run(data.FloorOneToThree, 2, "Wifi-Dongle-Test", Settings::Path_DongleTest::path6);
         statsMedian.add(tmp.getMedian());
         statsAVG.add(tmp.getAvg());
         statsSTD.add(tmp.getStdDev());