added activity detection

code/lukas/Activities.h

@@ -0,0 +1,6 @@
+#ifndef ACTIVITIES_H
+#define ACTIVITIES_H
+
+
+
+#endif // ACTIVITIES_H

code/lukas/ActivityDetection.h

@@ -0,0 +1,121 @@
+#ifndef ACTIVITYDETECTION_H
+#define ACTIVITYDETECTION_H
+
+#include <string>
+#include "Activities.h"
+#include <vector>
+
+#include <Indoor/math/MovingAVG.h>
+#include <Indoor/math/MovingMedian.h>
+
+#include <KLib/math/statistics/Statistics.h>
+
+
+#include <Indoor/math/Distributions.h>
+
+/**
+ * classification of pedestrian activities using sensor inputs.
+ * sensor inputs are passed into this element
+ * recognized acitivities are the output
+ *
+ */
+class ActivityDetection {
+
+private:
+
+	/** the currently detected activity */
+	Activity current = Activity::UNKNOWN;
+
+	K::Statistics<float> mag;
+	K::Statistics<float> hpa;
+
+	MovingMedian<float> hpaAvg;
+
+public:
+
+	ActivityDetection() : hpaAvg(3) {;}
+
+	/** add accelerometer values */
+	void addAccel(float accel[3]) {
+
+		float magnitude = std::sqrt(accel[0]*accel[0] + accel[1]*accel[1] + accel[2]*accel[2]);
+		mag.add(magnitude - 9.81f);
+
+	}
+
+	/** add barometer values */
+	void addBaro(float hpa) {
+		hpaAvg.add(hpa);
+		float smoothed = hpaAvg.get();
+		this->hpa.add(smoothed);
+		if (this->hpa.getCount() > 50) {analyze();}
+	}
+
+	struct ActClass {
+		Activity act;
+		Distribution::Normal<float> barometer;
+		Distribution::Normal<float> magnitude;
+		ActClass(const Activity act, float muMag, float muBaro, float varMag, float varBaro) :
+			act(act), barometer(muBaro, std::sqrt(varBaro)), magnitude(muMag, std::sqrt(varMag)) {
+			;
+		}
+		float getProbability(const float hpaRange, const float varMag) const {
+			return	barometer.getProbability(hpaRange) *
+					magnitude.getProbability(varMag);
+		}
+	};
+
+	void analyze() {
+
+//		std::vector<ActClass> classes = {
+//			ActClass(Activity::STANDING, 0.042118, 0.01, 0.002322, 0.001),
+//			ActClass(Activity::STAIRS, 3.561667, 0.035, 1.392631, 0.002),		// stair up
+//			ActClass(Activity::STAIRS, 5.529414, -0.035, 3.416315, 0.002),		// stair down
+//			ActClass(Activity::WALKING, 1.669506, 0.01, 0.273880, 0.001),
+//		};
+
+//		auto comp = [&] (const ActClass& a, const ActClass& b) {
+//			return a.getProbability(hpa.getRange(), mag.getStdDev()) < b.getProbability(hpa.getRange(), mag.getStdDev());
+//		};
+
+//		auto it = std::max_element(classes.begin(), classes.end(), comp);
+
+//		current = (*it).act;
+
+
+		if (mag.getStdDev() < 0.3) {
+			current = Activity::STANDING;
+		} else {
+			if (hpa.getRange() > 0.035) {
+				current = Activity::STAIRS;
+			} else {
+				current = Activity::WALKING;
+			}
+		}
+
+//		current = (Activity) idx;
+
+		mag.reset();
+		hpa.reset();
+
+	}
+
+	/** get the currently detected activity */
+	Activity getCurrentActivity() const {
+		return current;
+	}
+
+	std::string toString() const {
+		switch (current) {
+			case Activity::UNKNOWN:		return "unknown";
+			case Activity::STANDING:	return "standing";
+			case Activity::WALKING:		return "walking";
+			case Activity::STAIRS:		return "stairs";
+			case Activity::ELEVATOR:	return "elevator";
+		}
+		throw "should not happen";
+	}
+
+};
+
+#endif // ACTIVITYDETECTION_H