toni/IPIN2016
2
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

activated interval smoothing for evaluation

Browse Source
This commit is contained in:
toni
2016-05-03 11:17:08 +02:00
parent 8b7b38dd5a
commit 1e8f4259a2
10 changed files with 272 additions and 155 deletions
Download Patch File Download Diff File Expand all files Collapse all files

101
code/eval/SmoothingEval1.h
View File

@@ -21,7 +21,7 @@
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverageWithAngle.h>
class SmoothingEval1 : public FixedLagEvalBase {
class SmoothingEval1 : public SmoothingEvalBase {
public:
@@ -81,7 +81,7 @@ public:
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
@@ -112,13 +112,13 @@ public:
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
if(smoothing_resample)
bf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionSimple>( new MySmoothingTransitionSimple) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
// ============================================================ Dijkstra ============================================== //
@@ -146,13 +146,13 @@ public:
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Dijkstra
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
if(smoothing_resample)
bf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
}
@@ -175,7 +175,7 @@ public:
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -185,7 +185,7 @@ public:
}
void bergwerk_path1_nexus_simple() {
runName = "bergwerk_path1_nexus_simple_fixedlag";
runName = "bergwerk_path1_nexus_simple_interval";
bergwerk_path1_nexus();
for (auto& n : grid) {n.imp = 1;}
@@ -198,7 +198,7 @@ public:
void bergwerk_path1_nexus_imp() {
runName = "bergwerk_path1_nexus_importance_fixedlag";
runName = "bergwerk_path1_nexus_importance_interval";
bergwerk_path1_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
@@ -206,9 +206,9 @@ public:
}
void bergwerk_path1_nexus_multi() {
void bergwerk_path1_nexus_multi(std::string name) {
runName = "bergwerk_path1_nexus_multi_fixedlag";
runName = name;
bergwerk_path1_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
@@ -219,7 +219,7 @@ public:
void bergwerk_path1_nexus_shortest() {
runName = "bergwerk_path1_nexus_shortest_fixedlag";
runName = "bergwerk_path1_nexus_shortest_interval";
bergwerk_path1_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
@@ -243,7 +243,7 @@ public:
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -254,7 +254,7 @@ public:
void bergwerk_path2_nexus_simple() {
runName = "bergwerk_path2_nexus_simple_fixedlag";
runName = "bergwerk_path2_nexus_simple_interval";
bergwerk_path2_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
@@ -266,7 +266,7 @@ public:
void bergwerk_path2_nexus_imp() {
runName = "bergwerk_path2_nexus_importance_fixedlag";
runName = "bergwerk_path2_nexus_importance_interval";
bergwerk_path2_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
@@ -274,9 +274,9 @@ public:
}
void bergwerk_path2_nexus_multi() {
void bergwerk_path2_nexus_multi(std::string name) {
runName = "bergwerk_path2_nexus_multi_fixedlag";
runName = name;
bergwerk_path2_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
@@ -287,7 +287,7 @@ public:
void bergwerk_path2_nexus_shortest() {
runName = "bergwerk_path2_nexus_shortest_fixedlag";
runName = "bergwerk_path2_nexus_shortest_interval";
bergwerk_path2_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
@@ -312,7 +312,7 @@ public:
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -323,7 +323,7 @@ public:
void bergwerk_path3_nexus_simple() {
runName = "bergwerk_path3_nexus_simple_fixedlag";
runName = "bergwerk_path3_nexus_simple_interval";
bergwerk_path3_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
@@ -335,7 +335,7 @@ public:
void bergwerk_path3_nexus_imp() {
runName = "bergwerk_path3_nexus_importance_fixedlag";
runName = "bergwerk_path3_nexus_importance_interval";
bergwerk_path3_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
@@ -343,9 +343,9 @@ public:
}
void bergwerk_path3_nexus_multi() {
void bergwerk_path3_nexus_multi(std::string name) {
runName = "bergwerk_path3_nexus_multi_fixedlag";
runName = name;
bergwerk_path3_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
@@ -356,7 +356,7 @@ public:
void bergwerk_path3_nexus_shortest() {
runName = "bergwerk_path3_nexus_shortest_fixedlag";
runName = "bergwerk_path3_nexus_shortest_interval";
bergwerk_path3_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
@@ -380,7 +380,7 @@ public:
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -391,7 +391,7 @@ public:
void bergwerk_path4_nexus_simple() {
runName = "bergwerk_path4_nexus_simple_fixedlag";
runName = "bergwerk_path4_nexus_simple_interval";
bergwerk_path4_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
@@ -403,7 +403,7 @@ public:
void bergwerk_path4_nexus_imp() {
runName = "bergwerk_path4_nexus_importance_fixedlag";
runName = "bergwerk_path4_nexus_importance_interval";
bergwerk_path4_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
@@ -411,9 +411,9 @@ public:
}
void bergwerk_path4_nexus_multi() {
void bergwerk_path4_nexus_multi(std::string name) {
runName = "bergwerk_path4_nexus_multi_fixedlag";
runName = name;
bergwerk_path4_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
@@ -424,7 +424,7 @@ public:
void bergwerk_path4_nexus_shortest() {
runName = "bergwerk_path4_nexus_shortest_fixedlag";
runName = "bergwerk_path4_nexus_shortest_interval";
bergwerk_path4_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
@@ -449,7 +449,7 @@ public:
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -459,15 +459,15 @@ public:
}
void bergwerk_path1_galaxy_simple() {
runName = "bergwerk_path1_galaxy_simple_fixedlag";
runName = "bergwerk_path1_galaxy_simple_interval";
bergwerk_path1_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_galaxy_multi() {
runName = "bergwerk_path1_galaxy_multi_fixedlag";
void bergwerk_path1_galaxy_multi(std::string name) {
runName = name;
bergwerk_path1_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
@@ -476,7 +476,7 @@ public:
}
void bergwerk_path1_galaxy_shortest() {
runName = "bergwerk_path1_galaxy_shortest_fixedlag";
runName = "bergwerk_path1_galaxy_shortest_interval";
bergwerk_path1_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
@@ -500,7 +500,7 @@ public:
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -510,15 +510,16 @@ public:
}
void bergwerk_path2_galaxy_simple() {
runName = "bergwerk_path2_galaxy_simple_fixedlag";
runName = "bergwerk_path2_galaxy_simple_interval";
bergwerk_path2_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_galaxy_multi() {
runName = "bergwerk_path2_galaxy_multi_fixedlag";
void bergwerk_path2_galaxy_multi(std::string name) {
//runName = "bergwerk_path2_galaxy_multi_interval";
runName = name;
bergwerk_path2_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
@@ -527,7 +528,7 @@ public:
}
void bergwerk_path2_galaxy_shortest() {
runName = "bergwerk_path2_galaxy_shortest_fixedlag";
runName = "bergwerk_path2_galaxy_shortest_interval";
bergwerk_path2_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
@@ -551,7 +552,7 @@ public:
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -561,15 +562,15 @@ public:
}
void bergwerk_path3_galaxy_simple() {
runName = "bergwerk_path3_galaxy_simple_fixedlag";
runName = "bergwerk_path3_galaxy_simple_interval";
bergwerk_path3_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_galaxy_multi() {
runName = "bergwerk_path3_galaxy_multi_fixedlag";
void bergwerk_path3_galaxy_multi(std::string name) {
runName = name;
bergwerk_path3_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
@@ -578,7 +579,7 @@ public:
}
void bergwerk_path3_galaxy_shortest() {
runName = "bergwerk_path3_galaxy_shortest_fixedlag";
runName = "bergwerk_path3_galaxy_shortest_interval";
bergwerk_path3_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
@@ -604,7 +605,7 @@ public:
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
@@ -614,15 +615,15 @@ public:
}
void bergwerk_path4_galaxy_simple() {
runName = "bergwerk_path4_galaxy_simple_fixedlag";
runName = "bergwerk_path4_galaxy_simple_interval";
bergwerk_path4_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_galaxy_multi() {
runName = "bergwerk_path4_galaxy_multi_fixedlag";
void bergwerk_path4_galaxy_multi(std::string name) {
runName = name;
bergwerk_path4_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
@@ -632,7 +633,7 @@ public:
void bergwerk_path4_galaxy_shortest() {
runName = "bergwerk_path4_galaxy_shortest_fixedlag";
runName = "bergwerk_path4_galaxy_shortest_interval";
bergwerk_path4_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);