toni/IPIN2016
2
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

push for merge

Browse Source
This commit is contained in:
toni
2016-04-21 09:02:18 +02:00
parent 033466111a
commit b6532dbe7f
5 changed files with 54 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
code/eval/FixedLagEvalBase.h
View File

@@ -294,13 +294,17 @@ public:
pathEst.push_back(curEst);
const float err = diff.length();
errorsNorm.push_back(err);
// count number of transitions
++cnt;
if (cnt > 35) {
statsFiltering.add(err);
errorsNorm.push_back(err);
std::cout << "Filtering: " << se.ts << " " << statsFiltering.asString() << std::endl;
}
if(cnt > skip){
//save the current estimation for later smoothing.
@@ -335,10 +339,7 @@ public:
// skip the first 35 scans due to uniform distribution start
// if (cnt > 35) {
statsFiltering.add(err);
std::cout << "Filtering: " << se.ts << " " << statsFiltering.asString() << std::endl;
//}
const float errSmoothed = diffSmoothed.length();
statsSmoothing.add(errSmoothed);
@@ -489,7 +490,7 @@ public:
std::ofstream oErrPlot("/tmp/plot_err_" + runName + ".gp");
oErrPlot << "plot \\\n";
oErrPlot << "'err_norm_" << runName << ".dat' with lines, \\\n";
oErrPlot << "'err_smooth_" << runName << ".dat' using (($$0)+" << skip << "):1 with lines";
oErrPlot << "'err_smooth_" << runName << ".dat' with lines";
oErrPlot.close();

26
code/eval/SmoothingEval1.h
View File

@@ -51,9 +51,9 @@ public:
//create the backward smoothing filter
bf = new K::BackwardSimulation<MyState>(50);
//bf = new K::CondensationBackwardFilter<MyState>;
bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
//bf = new K::BackwardSimulation<MyState>(50);
bf = new K::CondensationBackwardFilter<MyState>;
//bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
}
@@ -145,7 +145,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
@@ -164,7 +164,7 @@ public:
//Smoothing Variables
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 15.0;
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
@@ -174,7 +174,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path1_nexus_simple() {
@@ -242,7 +242,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path2_nexus_simple() {
@@ -311,7 +311,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path3_nexus_simple() {
@@ -379,7 +379,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path4_nexus_simple() {
@@ -448,7 +448,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path1_galaxy_simple() {
@@ -499,7 +499,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path2_galaxy_simple() {
@@ -550,7 +550,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path3_galaxy_simple() {
@@ -603,7 +603,7 @@ public:
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>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransition>( new MySmoothingTransition(&grid)) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void bergwerk_path4_galaxy_simple() {