Merge branch 'master' of https://git.frank-ebner.de/toni/IPIN2016

code/eval/FixedLagEvalBase.h

@@ -27,9 +27,11 @@
 #include "../reader/SensorReader.h"
 #include "../reader/SensorReaderStep.h"
 #include "../reader/SensorReaderTurn.h"
+#include "../reader/SensorReaderAccel.h"
 
 #include "../lukas/TurnObservation.h"
 #include "../lukas/StepObservation.h"
+#include "../lukas/ActivityDetection.h"
 
 #include "../toni/BarometerSensorReader.h"
 
@@ -133,6 +135,8 @@ public:
 
         // sensor numbers
         const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5; const int s_orientation = 6;
+		const int s_accel = 0;
+
         //const int s_linearAcceleration = 2;
 
         std::list<TurnObservation> turn_observations;
@@ -141,6 +145,9 @@ public:
         //Create an BarometerSensorReader
         BarometerSensorReader baroSensorReader;
 
+		// activity detection
+		ActivityDetection actDet;
+
 
         //Read all turn Observations
         while(srt->hasNext()) {
@@ -234,9 +241,17 @@ public:
 
                 case s_barometer: {
                     obs.barometer = baroSensorReader.readBarometer(se);
+					actDet.addBaro(baroSensorReader.getHPA(se));
                     break;
                 }
 
+				case s_accel: {
+					float acc[3];
+					SensorReaderAccel sre; sre.read(se, acc);
+					actDet.addAccel(acc);
+					break;
+				}
+
 //					case s_linearAcceleration:{
 //						baroSensorReader.readVerticalAcceleration(se);
 //						break;
@@ -267,6 +282,11 @@ public:
 
             }
 
+			// currently detected activity
+			// TODO: feed sensor values!
+			ctrl.currentActivitiy = actDet.getCurrentActivity();
+
+
 
             // time for a transition?
             if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
@@ -366,6 +386,7 @@ public:
                         vis.gp << "set label 112 'baro: " << obs.barometer->hpa << "' at screen 0.1,0.2\n";
                     }
                     vis.gp << "set label 111 '" << ctrl.walked_m << ":" << ctrl.headingChange_rad << "' at screen 0.1,0.1\n";
+					vis.gp << "set label 112 '" << "Act: " << actDet.toString() << "' at screen 0.1,0.15\n";
 
                     //double avgAngleRad = estBF.avgAngle * 180/3.14159265359;