first commit init project

filter/Structs.h

@@ -0,0 +1,132 @@
+
+#ifndef FSTRUCTS_H
+#define FSTRUCTS_H
+
+#include <Indoor/grid/Grid.h>
+#include <Indoor/sensors/radio/WiFiGridNode.h>
+#include <Indoor/math/Distributions.h>
+#include <Indoor/sensors/radio/WiFiMeasurements.h>
+#include <Indoor/sensors/beacon/BeaconMeasurements.h>
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include <Indoor/floorplan/v2/FloorplanHelper.h>
+#include <Indoor/grid/factory/v2/GridNodeImportance.h>
+#include <Indoor/math/distribution/KernelDensity.h>
+
+#include <Indoor/grid/walk/v2/GridWalker.h>
+#include <Indoor/grid/walk/v2/modules/WalkModuleHeading.h>
+#include <Indoor/grid/walk/v2/modules/WalkModuleSpread.h>
+#include <Indoor/grid/walk/v2/modules/WalkModuleFavorZ.h>
+#include <Indoor/grid/walk/v2/modules/WalkModulePreventVisited.h>
+
+#include <Indoor/grid/walk/v2/modules/WalkModuleActivityControl.h>
+
+struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpread, public WalkStateFavorZ {
+
+	static Floorplan::IndoorMap* map;
+
+    float relativePressure = 0.0f;
+    GridPoint positionOld;
+
+    float headingChangeMeasured_rad;
+
+    MyState() : WalkState(GridPoint(0,0,0)), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
+
+    MyState(GridPoint pos) : WalkState(pos), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
+
+	MyState& operator += (const MyState& o) {
+		this->position += o.position;
+		return *this;
+	}
+	MyState& operator /= (const double d) {
+		this->position /= d;
+		return *this;
+	}
+	MyState operator * (const double d) const {
+		return MyState(this->position*d);
+	}
+	bool belongsToRegion(const MyState& o) const {
+		return position.inMeter().getDistance(o.position.inMeter()) < 3.0;
+	}
+
+    float getBinValue(const int dim) const {
+        switch (dim) {
+            case 0: return this->position.x_cm / 100.0;
+            case 1: return this->position.y_cm / 100.0;
+            case 2: return this->position.z_cm / 100.0;
+            case 3: return this->heading.direction.getRAD();
+        }
+        throw "cant find this value within the bin";
+    }
+};
+
+struct MyControl {
+
+    /** turn angle (in radians) since the last transition */
+    float turnSinceLastTransition_rad = 0;
+
+    /** number of steps since the last transition */
+    int numStepsSinceLastTransition = 0;
+
+    /** current motion delta angle*/
+    float motionDeltaAngle_rad = 0;
+
+    /** reset the control-data after each transition */
+    void resetAfterTransition() {
+        turnSinceLastTransition_rad = 0;
+        numStepsSinceLastTransition = 0;
+        motionDeltaAngle_rad = 0;
+    }
+
+};
+
+struct MyObs {
+
+    /** relative pressure since t_0 */
+    float relativePressure = 0;
+
+    /** current estimated sigma for pressure sensor */
+    float sigmaPressure = 0.10f;
+
+    /** wifi measurements */
+    WiFiMeasurements wifi;
+
+    /** detected activity */
+    ActivityButterPressure::Activity activity = ActivityButterPressure::Activity::STAY;
+
+    /** beacon measurements */
+    BeaconMeasurements beacons;
+
+    /** gps measurements */
+    //GPSData gps;
+
+    /** time of evaluation */
+    Timestamp currentTime;
+
+};
+
+struct MyNode : public GridPoint, public GridNode, public GridNodeImportance, public WiFiGridNode<20> {
+
+    float navImportance;
+    float getNavImportance() const { return navImportance; }
+
+    float walkImportance;
+    float getWalkImportance() const { return walkImportance; }
+
+
+    /** empty ctor */
+    MyNode() : GridPoint(-1, -1, -1) {;}
+
+    /** ctor */
+    MyNode(const int x, const int y, const int z) : GridPoint(x,y,z) {;}
+
+    static void staticDeserialize(std::istream& inp) {
+        WiFiGridNode::staticDeserialize(inp);
+    }
+
+    static void staticSerialize(std::ostream& out) {
+        WiFiGridNode::staticSerialize(out);
+    }
+};
+
+
+#endif // FSTRUCTS_H