added fixed interval smoothing

code/particles/MyEvaluation.h

@@ -11,6 +11,8 @@
 #include "../lukas/StepEvaluation.h"
 #include "../lukas/TurnEvaluation.h"
 
+#include <atomic>
+
 class MyEvaluation : public K::ParticleFilterEvaluation<MyState, MyObservation> {
 
 private:
@@ -47,6 +49,11 @@ public:
 		double sum = 0;
 		for (K::Particle<MyState>& p : particles) {
 
+//		std::atomic<double> sum(0);
+//		#pragma omp parallel for
+//		for (int i = 0; i < (int) particles.size(); ++i) {
+//			K::Particle<MyState>& p = particles[i];
+
 			double weight = 1.0;
 
 			if (useWifi) {
@@ -55,6 +62,9 @@ public:
 
 			if (useBaro && observation.barometer) {
 				weight *= barometerEval.getProbability(p.state, observation.barometer);
+
+                // set
+                p.state.measurement_pressure = observation.barometer->hpa;
 			}
 
 			if (useIB) {