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added activity detection

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kazu
2016-04-21 08:56:15 +02:00
parent ecd34cf6d3
commit 6f0d56fbef
10 changed files with 210 additions and 18 deletions
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5
code/particles/MyControl.h
View File

@@ -1,12 +1,17 @@
#ifndef MYCONTROL_H
#define MYCONTROL_H
#include "../lukas/Activities.h"
/** current control data for the transition step */
struct MyControl {
float walked_m = 0;
float headingChange_rad = 0;
Activity currentActivitiy = Activity::UNKNOWN;
};
#endif // MYCONTROL_H

18
code/particles/MyEvaluation.h
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@@ -71,16 +71,18 @@ public:
weight *= beaconEval.getProbability(p.state, observation);
}
if (useStep) {
weight *= stepEval.getProbability(p.state, observation.step);
}
// CONTROL!
// if (useStep) {
// weight *= stepEval.getProbability(p.state, observation.step);
// }
if (useTurn) {
weight *= turnEval.getProbability(p.state, observation.turn, true);
// CONTROL!
// if (useTurn) {
// weight *= turnEval.getProbability(p.state, observation.turn, true);
//set
p.state.angularHeadingChange = observation.turn->delta_heading;
}
// //set
// p.state.angularHeadingChange = observation.turn->delta_heading;
// }
// set and accumulate
p.weight = weight;

2
code/particles/MyTransition.h
View File

@@ -103,7 +103,7 @@ public:
// get new destination
//const Node3* dst = choice->getTarget(src, p.state, dist_m);
p.state.walkState = walker.getDestination(grid, p.state.walkState, control->walked_m, control->headingChange_rad );
p.state.walkState = walker.getDestination(grid, p.state.walkState, control->walked_m, control->headingChange_rad, control->currentActivitiy );
// randomly move the particle within its target grid (box)
// (z remains unchanged!)