97 lines
3.0 KiB
C++
97 lines
3.0 KiB
C++
#ifndef SETTINGS_H
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#define SETTINGS_H
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#include <Indoor/grid/GridPoint.h>
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#include <Indoor/data/Timestamp.h>
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#include <Indoor/sensors/radio/VAPGrouper.h>
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namespace Settings {
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bool useKLB = false;
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const int numParticles = 6000;
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const int numBSParticles = 50;
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namespace IMU {
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const float turnSigma = 2.5; // 3.5
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const float stepLength = 1.00;
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const float stepSigma = 0.15; //toni changed
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}
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const float smartphoneAboveGround = 1.3;
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const float offlineSensorSpeedup = 2;
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namespace Grid {
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constexpr int gridSize_cm = 20;
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}
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namespace Smoothing {
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const bool activated = true;
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const double stepLength = 0.7;
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const double stepSigma = 0.2;
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const double headingSigma = 25.0;
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const double zChange = 0.0; // mu change in height between two time steps
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const double zSigma = 0.1;
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const int lag = 5;
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}
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namespace KDE {
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const Point2 bandwidth(100,100);
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}
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//const GridPoint destination = GridPoint(70*100, 35*100, 0*100); // use destination
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const GridPoint destination = GridPoint(0,0,0); // do not use destination
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namespace SensorDebug {
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const Timestamp updateEvery = Timestamp::fromMS(200);
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}
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namespace WiFiModel {
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constexpr float sigma = 8.0;
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/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
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constexpr float TXP = -40;
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constexpr float EXP = 2.2;
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constexpr float WAF = -8.0;
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// how to perform VAP grouping. see
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// - calibration in Controller.cpp
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// - eval in Filter.h
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// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
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const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);
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const VAPGrouper vg_eval = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);
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}
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namespace BeaconModel {
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constexpr float sigma = 8.0;
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constexpr float TXP = -71;
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constexpr float EXP = 1.5;
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constexpr float WAF = -20.0; //-5 //20??
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}
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namespace MapView3D {
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const int maxColorPoints = 1000;
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constexpr int fps = 15;
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const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
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}
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namespace Filter {
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const Timestamp updateEvery = Timestamp::fromMS(500);
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constexpr bool useMainThread = false; // perform filtering in the main thread
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}
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namespace Path_DongleTest {
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const std::vector<int> path1 = {0, 1, 2, 3, 4, 5, 6};
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const std::vector<int> path2 = {6, 5, 4, 7, 8, 9, 8, 10};
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const std::vector<int> path3 = {10, 8, 7, 4, 11, 12, 13, 14, 6};
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const std::vector<int> path4 = {0, 1, 2, 3, 4, 5, 6, 71, 7, 8, 9, 10};
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const std::vector<int> path5 = {40, 41, 85, 117, 31, 32, 33, 34, 35, 36, 37, 12, 3, 4, 5, 6, 71};
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const std::vector<int> path6 = {28, 27, 26, 25, 24, 23, 22, 21, 20, 1, 2, 3, 4, 6, 5};
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}
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}
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#endif // SETTINGS_H
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