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work in progress.

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toni
2016-04-05 18:06:23 +02:00
parent 5f81da109a
commit aeaa4cb59d
7 changed files with 107 additions and 38 deletions
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23
code/eval/SmoothingEval1.h
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@@ -52,6 +52,7 @@ public:
//create the backward smoothing filter
bf = new K::BackwardSimulation<MyState>(500);
//bf = new K::CondensationBackwardFilter<MyState>;
bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
@@ -118,21 +119,29 @@ public:
// Hier dauert sehr laaaaaaaannnnnnnggge @Frank
void fixedIntervallDijkstraTransPath4(){
runName = "fixedIntervallSimpleTrans";
bool smoothing_resample = false;
smoothing_time_delay = 1;
runName = "fixedIntervallDijkstra";
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path4/nexus/1454776525797.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path4/nexus/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path4/nexus/Steps2.txt");
sr = new SensorReader("./measurements/bergwerk/path4/nexus/vor/1454776525797.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path4/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path4/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
//Smoothing using Simple Trans
//Smoothing Variables
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Dijkstra
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
if(smoothing_resample)
bf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );