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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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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;