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experimental stuff... tryed dynamic step length using the barometric height

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toni
2016-04-05 08:14:33 +02:00
parent 705d593e36
commit 65294284d0
6 changed files with 52 additions and 16 deletions
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8
code/eval/SmoothingEval1.h
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@@ -19,7 +19,7 @@
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverageWithAngle.h>
class SmoothingEval1 : public FixedLagEvalBase {
@@ -45,7 +45,7 @@ public:
//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
// state estimation step
pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
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)));
@@ -100,14 +100,14 @@ public:
//Smoothing Variables
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 15.0;
smoothing_heading_sigma = 5.0;
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>()));
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );