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

Closes #3 integrated new testdata with wifidongles

Browse Source
This commit is contained in:
toni
2017-10-17 16:53:02 +02:00
parent ba3b758744
commit 232175c3dc
3 changed files with 27 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
filter/Logic.h
View File

@@ -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;