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evaluation stand

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toni
2016-05-04 10:32:28 +02:00
parent ce1a1b4d99
commit e3d7e83159
9 changed files with 66 additions and 62 deletions
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23
code/eval/SmoothingEval1.h
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@@ -47,7 +47,7 @@ public:
// state estimation step
pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
//create the backward smoothing filter
@@ -80,7 +80,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -115,6 +115,7 @@ public:
//Smoothing using Simple Trans
//bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
if(smoothing_resample)
bf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
@@ -145,7 +146,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Dijkstra
@@ -174,7 +175,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -242,7 +243,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -311,7 +312,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -379,7 +380,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -448,7 +449,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -499,7 +500,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -551,7 +552,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans
@@ -604,7 +605,7 @@ public:
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
bool smoothing_resample = true;
//Smoothing using Simple Trans