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added Evalbase.h again

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toni
2016-05-05 10:35:59 +02:00
parent bbc8f5aa19 a6790c3db3
commit 2fbc10fbd3
14 changed files with 2259 additions and 55 deletions
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92
code/eval/SmoothingEval1.h
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@@ -2,6 +2,7 @@
#define SMOOTHINGEVAL1_H
#include "SmoothingEvalBase.h"
#include "SmoothingEvalBaseLOG.h"
#include "FixedLagEvalBase.h"
#include "../DijkstraMapper.h"
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
@@ -21,7 +22,7 @@
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverageWithAngle.h>
class SmoothingEval1 : public SmoothingEvalBase {
class SmoothingEval1 : public FixedLagEvalBase {
public:
@@ -45,23 +46,15 @@ public:
//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
// state estimation step
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
//create the backward smoothing filter
//bf = new K::BackwardSimulation<MyState>(MiscSettings::numBSParticles);
bf = new K::CondensationBackwardFilter<MyState>;
//bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
bool smoothing_resample = false;
bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
//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 = new K::BackwardSimulation<MyState>(MiscSettings::numBSParticles);
//bf = new K::CondensationBackwardFilter<MyState>;
bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
}
@@ -88,7 +81,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -123,7 +116,6 @@ public:
//Smoothing using Simple Trans
//bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
//bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
if(smoothing_resample)
@@ -155,7 +147,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Dijkstra
@@ -184,6 +176,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path1_nexus_simple() {
@@ -244,6 +244,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path2_nexus_simple() {
@@ -305,6 +313,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path3_nexus_simple() {
@@ -365,6 +381,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path4_nexus_simple() {
@@ -426,6 +450,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path1_galaxy_simple() {
@@ -469,6 +501,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path2_galaxy_simple() {
@@ -513,6 +553,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path3_galaxy_simple() {
@@ -558,6 +606,14 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = true;
//Smoothing using Simple Trans
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) );
}
void bergwerk_path4_galaxy_simple() {