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added tex template

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toni
2016-03-29 15:32:09 +02:00
parent 21e26e6209
commit f52947fae9
30 changed files with 13110 additions and 70 deletions
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2
code/CMakeLists.txt.user
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 3.6.0, 2016-03-22T18:00:37. -->
<!-- Written by QtCreator 3.6.0, 2016-03-24T18:17:49. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

22
code/Vis.h
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@@ -2,6 +2,7 @@
#define VIS_H
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSize.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
@@ -31,6 +32,7 @@ public:
K::GnuplotSplotElementLines smoothPath;
K::GnuplotSplotElementLines groundTruth;
public:
Vis() {
@@ -141,6 +143,14 @@ public:
gp << "set label 1 \"" << ((ts-firstTs)/1000.0f) << "\" at screen 0.02,0.98\n";
}
void setFilteringMedian(double median){
gp << "set label 2 \"" << median << "\" at screen 0.02,0.90\n";
}
void setSmoothingMedian(double median){
gp << "set label 3 \"" << median << "\" at screen 0.02,0.85\n";
}
void removeGrid() {
gridNodes.clear();;
}
@@ -150,20 +160,26 @@ public:
particleDir.clear();
}
void addObject(const int idx, const Point3& p) {
void addObject(const int idx, const Point3& p, const std::string& hex) {
gp << "set object " << idx << " polygon ";
gp << "from " << p.x << "," << p.y << "," << p.z;
gp << " to " << p.x << "," << p.y << "," << p.z + 200;
gp << " to " << p.x << "," << p.y << "," << p.z; // close
gp << " lw 2 ";
gp << "fc rgb '" + hex + "'";
gp << "\n";
}
void setEstAndShould(const Point3& est, const Point3& should) {
addObject(2,est);
addObject(3,should);
addObject(2,est, "#000000");
addObject(3,should, "#000000");
}
void setEstAndShould2(const Point3& est, const Point3& should) {
addObject(4,est, "#59C1DA");
addObject(5,should, "#59C1DA");
}
template <typename T> void addState(const GridWalkState<T>& n) {
Point2 dir = Angle::getPointer(n.heading.getRAD());
K::GnuplotPoint3 p1(n.node->x_cm, n.node->y_cm, n.node->z_cm);

67
code/eval/FixedLagEvalBase.h
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@@ -19,6 +19,7 @@
#include "../particles/MyInitializer.h"
#include "../particles/smoothing/MySmoothingTransition.h"
#include "../particles/smoothing/MySmoothingTransitionSimple.h"
#include "../particles/smoothing/MySmoothingTransitionExperimental.h"
#include "../reader/SensorReader.h"
#include "../reader/SensorReaderStep.h"
@@ -68,6 +69,8 @@ protected:
std::vector<int> path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};
std::vector<int> path4dbl = {29, 29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44}; // duplicate 1st waypoint!
float stepSize = 0.71;
public:
FixedLagEvalBase() : grid(MiscSettings::gridSize_cm), floors(Helper::getFloors(grid)) {
@@ -84,7 +87,7 @@ public:
vis.floors.setColorHex("#666666");
vis.groundTruth.setCustomAttr("dashtype 3");
vis.groundTruth.setColorHex("#009900");
vis.gp << "unset cbrange\n";
vis.gp << "unset cbrange\n";
}
@@ -236,7 +239,7 @@ public:
while (!step_observations.empty() && current_time > step_observations.front().ts) {
const StepObservation _so = step_observations.front(); step_observations.pop_front(); (void) _so;
obs.step->steps++;
ctrl.walked_m = obs.step->steps * 0.71;
ctrl.walked_m = obs.step->steps * stepSize;
}
// process all occurred steps
@@ -273,12 +276,14 @@ public:
// skip the first 24 scans due to uniform distribution start
if (++cnt > 24) {
statsFiltering.add(err);
std::cout << "Filtering: " << statsFiltering.asString() << std::endl;
statsFiltering.add(err);
std::cout << "Filtering: " << statsFiltering.asString() << std::endl;
}
//save the current estimation for later smoothing.
pfHistory.push_back(pf->getNonResamplingParticles());
tsHistory.push_back(se.ts);
if(cnt > 19){
//save the current estimation for later smoothing.
pfHistory.push_back(pf->getNonResamplingParticles());
tsHistory.push_back(se.ts);
}
@@ -291,7 +296,7 @@ public:
//use every n-th (std = 1) particle set of the history within a given lag (std = 5)
for(int i = 0; i < MiscSettings::lag; i += MiscSettings::fixedLagGap){
((MySmoothingTransitionSimple*)bf->getTransition())->setCurrentTime(tsHistory[i]);
((MySmoothingTransitionSimple*)bf->getTransition())->setCurrentTime(tsHistory[(tsHistory.size() - 1) - i]);
estBF = bf->update(pfHistory[(pfHistory.size() - 1) - i]);
}
@@ -309,18 +314,20 @@ public:
statsSmoothing.add(errSmoothed);
std::cout << "Smoothing: " << statsSmoothing.asString() << std::endl;
// plot
//plot
vis.clearStates();
for (int j = 0; j < (int) bf->getbackwardParticles().back().size(); j+=15) {
const K::Particle<MyState>& p = bf->getbackwardParticles().back()[j];
vis.addState(p.state.walkState);
}
vis.setTimestamp(se.ts);
//vis.setTimestamp(se.ts);
vis.setFilteringMedian(statsFiltering.getMedian());
vis.setSmoothingMedian(statsSmoothing.getMedian());
vis.addGroundTruth(gtw);
vis.addEstPath(pathEst);
vis.addSmoothPath(smoothedEst);
vis.setEstAndShould(curSmoothedEst, curGTSmoothed);
vis.setEstAndShould(curEst, curGT);
vis.setEstAndShould2(curSmoothedEst, curGTSmoothed);
if (obs.barometer != nullptr) {
vis.gp << "set label 112 'baro: " << obs.barometer->hpa << "' at screen 0.1,0.2\n";
@@ -343,6 +350,42 @@ public:
}
statsout.close();
// plot
//vis.clearStates();
vis.gp.setTerminal("png", K::GnuplotSize(1280 * 2.54, 720 * 2.54) );
vis.gp.setOutput("/tmp/" + runName + ".png");
vis.gp << "set view 60," << 40 << "\n"; //For fixed position
for (int j = 0; j < (int) bf->getbackwardParticles().back().size(); j+=15) {
const K::Particle<MyState>& p = bf->getbackwardParticles().back()[j];
vis.addState(p.state.walkState);
}
//vis.setTimestamp(se.ts);
vis.setFilteringMedian(statsFiltering.getMedian());
vis.setSmoothingMedian(statsSmoothing.getMedian());
vis.addGroundTruth(gtw);
vis.addEstPath(pathEst);
vis.addSmoothPath(smoothedEst);
//vis.setEstAndShould(curEst, curGT);
//vis.setEstAndShould2(curSmoothedEst, curGTSmoothed);
if (obs.barometer != nullptr) {
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 111 '" <<ctrl.walked_m << ":" << obs.orientation.values[0] << "' at screen 0.1,0.1\n";
Point2 p1(0.1, 0.1);
Point2 p2 = p1 + Angle::getPointer(ctrl.headingChange_rad) * 0.05;
//Point2 p2 = p1 + Angle::getPointer(obs.orientation.values[0]) * 0.05;
vis.gp << "set arrow 999 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
vis.show();
// prevent gnuplot errors
usleep(1000*33);
}
};

521
code/eval/SmoothingEval1.h
View File

@@ -21,7 +21,7 @@
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
class SmoothingEval1 : public SmoothingEvalBase {
class SmoothingEval1 : public FixedLagEvalBase {
public:
@@ -59,17 +59,17 @@ public:
void fixedIntervallSimpleTransPath1() {
runName = "fixedIntervallSimpleTrans";
runName = "fixedIntervallSimpleTransPath1";
bool smoothing_resample = false;
smoothing_time_delay = 1;
BarometerEvaluation::barometerSigma = 0.05;
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
@@ -83,27 +83,37 @@ public:
void fixedIntervallSimpleTransPath4(){
runName = "fixedIntervallSimpleTrans";
bool smoothing_resample = false;
smoothing_time_delay = 1;
runName = "fixedIntervallSimpleTransPath4";
BarometerEvaluation::barometerSigma = 0.05;
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");
BarometerEvaluation::barometerSigma = 0.10;
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 Variables
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 15.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
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<MySmoothingTransitionSimple>( new MySmoothingTransitionSimple()) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
// ============================================================ Dijkstra ============================================== //
// Hier dauert sehr laaaaaaaannnnnnnggge @Frank
void fixedIntervallDijkstraTransPath4(){
@@ -129,6 +139,493 @@ public:
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
/* ----------------------------------------------- Bergwerk ------ Fusion 2016 --------------------------------------------------- */
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path1_nexus() {
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
//Smoothing Variables
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 15.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path1_nexus_simple() {
runName = "bergwerk_path1_nexus_simple_fixedlag";
bergwerk_path1_nexus();
for (auto& n : grid) {n.imp = 1;}
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_nexus_imp() {
runName = "bergwerk_path1_nexus_importance_fixedlag";
bergwerk_path1_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_nexus_multi() {
runName = "bergwerk_path1_nexus_multi_fixedlag";
bergwerk_path1_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_nexus_shortest() {
runName = "bergwerk_path1_nexus_shortest_fixedlag";
bergwerk_path1_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path2_nexus() {
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path2/nexus/vor/1454779863041.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path2/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path2/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path2dbl);
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 Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path2_nexus_simple() {
runName = "bergwerk_path2_nexus_simple_fixedlag";
bergwerk_path2_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_nexus_imp() {
runName = "bergwerk_path2_nexus_importance_fixedlag";
bergwerk_path2_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_nexus_multi() {
runName = "bergwerk_path2_nexus_multi_fixedlag";
bergwerk_path2_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_nexus_shortest() {
runName = "bergwerk_path2_nexus_shortest_fixedlag";
bergwerk_path2_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->times = 4;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path3_nexus() {
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path3/nexus/vor/1454782562231.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path3/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path3/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path3dbl);
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 Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path3_nexus_simple() {
runName = "bergwerk_path3_nexus_simple_fixedlag";
bergwerk_path3_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_nexus_imp() {
runName = "bergwerk_path3_nexus_importance_fixedlag";
bergwerk_path3_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_nexus_multi() {
runName = "bergwerk_path3_nexus_multi_fixedlag";
bergwerk_path3_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_nexus_shortest() {
runName = "bergwerk_path3_nexus_shortest_fixedlag";
bergwerk_path3_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path4_nexus() {
BarometerEvaluation::barometerSigma = 0.10;
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);
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 Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path4_nexus_simple() {
runName = "bergwerk_path4_nexus_simple_fixedlag";
bergwerk_path4_nexus();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_nexus_imp() {
runName = "bergwerk_path4_nexus_importance_fixedlag";
bergwerk_path4_nexus();
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_nexus_multi() {
runName = "bergwerk_path4_nexus_multi_fixedlag";
bergwerk_path4_nexus();
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)) );
}
void bergwerk_path4_nexus_shortest() {
runName = "bergwerk_path4_nexus_shortest_fixedlag";
bergwerk_path4_nexus();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path1_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path1/galaxy/vor/1454776168794.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path1_galaxy_simple() {
runName = "bergwerk_path1_galaxy_simple_fixedlag";
bergwerk_path1_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_galaxy_multi() {
runName = "bergwerk_path1_galaxy_multi_fixedlag";
bergwerk_path1_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_galaxy_shortest() {
runName = "bergwerk_path1_galaxy_shortest_fixedlag";
bergwerk_path1_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path2_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path2/galaxy/vor/1454780113404.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path2/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path2/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path2dbl);
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path2_galaxy_simple() {
runName = "bergwerk_path2_galaxy_simple_fixedlag";
bergwerk_path2_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_galaxy_multi() {
runName = "bergwerk_path2_galaxy_multi_fixedlag";
bergwerk_path2_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path2_galaxy_shortest() {
runName = "bergwerk_path2_galaxy_shortest_fixedlag";
bergwerk_path2_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path3_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path3/galaxy/vor/1454782896548.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path3/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path3/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path3dbl);
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path3_galaxy_simple() {
runName = "bergwerk_path3_galaxy_simple_fixedlag";
bergwerk_path3_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_galaxy_multi() {
runName = "bergwerk_path3_galaxy_multi_fixedlag";
bergwerk_path3_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path3_galaxy_shortest() {
runName = "bergwerk_path3_galaxy_shortest_fixedlag";
bergwerk_path3_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
/* ------------------------------------------------------------------------------------------------------------------------------- */
void bergwerk_path4_galaxy() {
BarometerEvaluation::barometerSigma = 0.20;
stepSize = 0.9;
sr = new SensorReader("./measurements/bergwerk/path4/galaxy/vor/1454779020844.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path4/galaxy/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path4/galaxy/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.15;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
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<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental()) );
}
void bergwerk_path4_galaxy_simple() {
runName = "bergwerk_path4_galaxy_simple_fixedlag";
bergwerk_path4_galaxy();
for (auto& n : grid) {n.imp = 1;} // remove importance
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_galaxy_multi() {
runName = "bergwerk_path4_galaxy_multi_fixedlag";
bergwerk_path4_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path4_galaxy_shortest() {
runName = "bergwerk_path4_galaxy_shortest_fixedlag";
bergwerk_path4_galaxy();
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
//walk->times = 2;
walk->pOther = 0.15;
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
};
#endif // EVAL1_H

2
code/lukas/TurnObservation.h
View File

@@ -11,7 +11,7 @@ struct TurnObservation {
float delta_motion; //measured change of motion direction (given by PCA)
TurnObservation() {;}
TurnObservation(const float delta_heading, const float motion_angle) : delta_heading(delta_heading), delta_motion(motion_angle) {;}
TurnObservation(const float delta_heading, const float motion_angle) : delta_heading(delta_heading), delta_motion(motion_angle) {;}
};

68
code/main.cpp
View File

@@ -89,57 +89,47 @@ int main(void) {
// testModelWalk();
SmoothingEval1 eval;
eval.fixedIntervallDijkstraTransPath4();
eval.fixedIntervallSimpleTransPath4();
eval.run();
// Eval1 eval;
// //eval.path2_forward_simple();
// //eval.path2_forward_path();
// //eval.path3_forward_simple();
// //eval.path3_forward_path();
// //eval.path4_nexus_simple();
// //eval.path4_nexus_imp();
// //eval.path4_nexus_path();
// //eval.path4_nexus_path_b();
// {SmoothingEval1 eval; eval.bergwerk_path1_nexus_simple(); eval.run();}
// //{SmoothingEval1 eval; eval.bergwerk_path1_nexus_imp(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path1_nexus_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path1_nexus_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path1_nexus_simple(); eval.run();}
// //{Eval1 eval; eval.bergwerk_path1_nexus_imp(); eval.run();}
// {Eval1 eval; eval.bergwerk_path1_nexus_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path1_nexus_shortest(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path2_nexus_simple(); eval.run();}
// //{SmoothingEval1 eval; eval.bergwerk_path2_nexus_imp(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path2_nexus_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path2_nexus_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path2_nexus_simple(); eval.run();}
// //{Eval1 eval; eval.bergwerk_path2_nexus_imp(); eval.run();}
// {Eval1 eval; eval.bergwerk_path2_nexus_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path2_nexus_shortest(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path3_nexus_simple(); eval.run();}
// //{SmoothingEval1 eval; eval.bergwerk_path3_nexus_imp(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path3_nexus_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path3_nexus_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path3_nexus_simple(); eval.run();}
// //{Eval1 eval; eval.bergwerk_path3_nexus_imp(); eval.run();}
// {Eval1 eval; eval.bergwerk_path3_nexus_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path3_nexus_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path4_nexus_simple(); eval.run();}
//{Eval1 eval; eval.bergwerk_path4_nexus_imp(); eval.run();}
// {Eval1 eval; eval.bergwerk_path4_nexus_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path4_nexus_shortest(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path4_nexus_simple(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path4_nexus_imp(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path4_nexus_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path4_nexus_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path1_galaxy_simple(); eval.run();}
// {Eval1 eval; eval.bergwerk_path1_galaxy_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path1_galaxy_shortest(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path1_galaxy_simple(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path1_galaxy_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path1_galaxy_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path2_galaxy_simple(); eval.run();}
// {Eval1 eval; eval.bergwerk_path2_galaxy_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path2_galaxy_shortest(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path2_galaxy_simple(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path2_galaxy_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path2_galaxy_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path3_galaxy_simple(); eval.run();}
// {Eval1 eval; eval.bergwerk_path3_galaxy_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path3_galaxy_shortest(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path3_galaxy_simple(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path3_galaxy_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path3_galaxy_shortest(); eval.run();}
// {Eval1 eval; eval.bergwerk_path4_galaxy_simple(); eval.run();}
// {Eval1 eval; eval.bergwerk_path4_galaxy_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path4_galaxy_shortest(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path4_galaxy_simple(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path4_galaxy_multi(); eval.run();}
// {SmoothingEval1 eval; eval.bergwerk_path4_galaxy_shortest(); eval.run();}

3
code/particles/MyEvaluation.h
View File

@@ -77,6 +77,9 @@ public:
if (useTurn) {
weight *= turnEval.getProbability(p.state, observation.turn, true);
//set
p.state.measurement_angle = observation.turn->delta_heading;
}
// set and accumulate

3
code/particles/MyState.h
View File

@@ -29,6 +29,9 @@ struct MyState {
// save last hPa measurement for the smoothing process
double measurement_pressure;
// save last angle measurement for the smoothing process
double measurement_angle;
//int distanceWalkedCM;

2
code/particles/smoothing/MySmoothingTransition.h
View File

@@ -21,8 +21,6 @@ static double smoothing_walk_mu = 0.7;
static double smoothing_walk_sigma = 0.5;
static double smoothing_heading_sigma = 15.0;
static double smoothing_baro_sigma = 0.2;
static bool smoothing_baro_use_hPa = false;
static double smoothing_baro_with_measurement = false;
class MySmoothingTransition : public K::BackwardFilterTransition<MyState> {

125
code/particles/smoothing/MySmoothingTransitionExperimental.h Normal file
View File

@@ -0,0 +1,125 @@
#ifndef MYSMOOTHINGTRANSITIONEXPERIMENTAL_H
#define MYSMOOTHINGTRANSITIONEXPERIMENTAL_H
#include <KLib/math/filter/particles/ParticleFilterTransition.h>
#include <KLib/math/filter/smoothing/BackwardFilterTransition.h>
#include <KLib/math/distribution/Normal.h>
#include <KLib/math/distribution/Uniform.h>
#include <Indoor/geo/Angle.h>
#include "../MyState.h"
#include "../MyControl.h"
#include "../../Helper.h"
#include "../../toni/barometric.h"
class MySmoothingTransitionExperimental : public K::BackwardFilterTransition<MyState> {
private:
/** a simple normal distribution */
K::NormalDistribution distWalk;
public:
/**
* ctor
* @param choice the choice to use for randomly drawing nodes
* @param fp the underlying floorplan
*/
MySmoothingTransitionExperimental() :
distWalk(smoothing_walk_mu, smoothing_walk_sigma) {
distWalk.setSeed(4321);
}
public:
uint64_t ts = 0;
uint64_t deltaMS = 0;
/** set the current time in millisconds */
void setCurrentTime(const uint64_t ts) {
if (this->ts == 0) {
this->ts = ts;
deltaMS = 0;
} else {
deltaMS = this->ts - ts;
this->ts = ts;
}
}
/**
* smoothing transition starting at T with t, t-1,...0
* @param particles_new p_t (Forward Filter)
* @param particles_old p_t+1 (Smoothed Particles from Step before)
*/
std::vector<std::vector<double>> transition(std::vector<K::Particle<MyState>>const& particles_new,
std::vector<K::Particle<MyState>>const& particles_old ) override {
// calculate alpha(m,n) = p(q_t+1(m) | q_t(n))
// this means, predict all possible states q_t+1 with all passible states q_t
// e.g. p(q_490(1)|q_489(1));p(q_490(1)|q_489(2)) ... p(q_490(1)|q_489(N)) and
// p(q_490(1)|q_489(1)); p(q_490(2)|q_489(1)) ... p(q_490(M)|q_489(1))
std::vector<std::vector<double>> predictionProbabilities;
auto p1 = particles_old.begin(); //smoothed / backward filter p_t+1
auto p2 = particles_new.begin(); //forward filter p_t
#pragma omp parallel for private(p2) shared(predictionProbabilities)
for (p1 = particles_old.begin(); p1 < particles_old.end(); ++p1) {
std::vector<double> innerVector;
for(p2 = particles_new.begin(); p2 < particles_new.end(); ++p2){
//!!!distance kann hier zu groß werden!!!
const double distance_m = p2->state.pCur.getDistance(p1->state.pCur) / 100.0;
//get distance walked and getProb using the walking model
//double distDijkstra_m = ((GRID_DISTANCE_CM / 100.0) * (8 - 1));
const double distProb = distWalk.getProbability(distance_m);
//getProb using the angle(heading) between src and dst
double angle = 0.0;
if(!(p2->state.pCur.x == p1->state.pCur.x) && !(p2->state.pCur.y == p1->state.pCur.y)){
angle = Angle::getDEG_360(p2->state.pCur.x, p2->state.pCur.y, p1->state.pCur.x, p1->state.pCur.y);
}
const double headingProb = K::NormalDistribution::getProbability(p1->state.cumulativeHeading, smoothing_heading_sigma, angle);
//assert(headingProb != 0.0);
//assert(distProb != 0.0);
//check how near we are to the measurement
double floorProb = K::NormalDistribution::getProbability(p1->state.measurement_pressure, smoothing_baro_sigma, p2->state.hPa);
//combine the probabilities
double prob = distProb * headingProb * floorProb;
innerVector.push_back(prob);
if(distance_m != distance_m) {throw "detected NaN";}
if(distProb != distProb) {throw "detected NaN";}
if(angle != angle) {throw "detected NaN";}
if(headingProb != headingProb) {throw "detected NaN";}
if(floorProb != floorProb) {throw "detected NaN";}
if(floorProb == 0) {throw "detected NaN";}
if(prob != prob) {throw "detected NaN";}
//assert(prob != 0.0);
}
#pragma omp critical
predictionProbabilities.push_back(innerVector);
}
return predictionProbabilities;
}
};
#endif // MYTRANSITION_H

447
tex/IEEEabrv.bib Normal file
View File

@@ -0,0 +1,447 @@
IEEEabrv.bib
V1.12 (2007/01/11)
Copyright (c) 2002-2007 by Michael Shell
See: http://www.michaelshell.org/
for current contact information.
BibTeX bibliography string definitions of the ABBREVIATED titles of
IEEE journals and magazines and online publications.
This file is designed for bibliography styles that require
abbreviated titles and is not for use in bibliographies that
require full-length titles.
Support sites:
http://www.michaelshell.org/tex/ieeetran/
http://www.ctan.org/tex-archive/macros/latex/contrib/IEEEtran/
and/or
http://www.ieee.org/
Special thanks to Laura Hyslop and ken Rawson of IEEE for their help
in obtaining the information needed to compile this file. Also,
Volker Kuhlmann and Moritz Borgmann kindly provided some corrections
and additions.
*************************************************************************
Legal Notice:
This code is offered as-is without any warranty either expressed or
implied; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE!
User assumes all risk.
In no event shall IEEE or any contributor to this code be liable for
any damages or losses, including, but not limited to, incidental,
consequential, or any other damages, resulting from the use or misuse
of any information contained here.
All comments are the opinions of their respective authors and are not
necessarily endorsed by the IEEE.
This work is distributed under the LaTeX Project Public License (LPPL)
( http://www.latex-project.org/ ) version 1.3, and may be freely used,
distributed and modified. A copy of the LPPL, version 1.3, is included
in the base LaTeX documentation of all distributions of LaTeX released
2003/12/01 or later.
Retain all contribution notices and credits.
** Modified files should be clearly indicated as such, including **
** renaming them and changing author support contact information. **
File list of work: IEEEabrv.bib, IEEEfull.bib, IEEEexample.bib,
IEEEtran.bst, IEEEtranS.bst, IEEEtranSA.bst,
IEEEtranN.bst, IEEEtranSN.bst, IEEEtran_bst_HOWTO.pdf
*************************************************************************
USAGE:
\bibliographystyle{mybstfile}
\bibliography{IEEEabrv,mybibfile}
where the IEEE titles in the .bib database entries use the strings
defined here. e.g.,
journal = IEEE_J_AC,
to yield "{IEEE} Trans. Automat. Contr."
IEEE uses abbreviated journal titles in their bibliographies -
this file is suitable for work that is to be submitted to the IEEE.
For work that requires full-length titles, you should use the full
titles provided in the companion file, IEEEfull.bib.
** NOTES **
1. Journals have been grouped according to subject in order to make it
easier to locate and extract the definitions for related journals -
as most works use references that are confined to a single topic.
Magazines are listed in straight alphabetical order.
2. String names are closely based on IEEE's own internal acronyms.
3. Abbreviations follow IEEE's style.
4. Older, out-of-print IEEE titles are included (but not including titles
dating prior to IEEE's formation from the IRE and AIEE in 1963).
5. The following NEW/current journal definitions have been disabled because
their abbreviations have not yet been verified:
STRING{IEEE_J_CBB = "{IEEE/ACM} Trans. Comput. Biology Bioinformatics"}
STRING{IEEE_J_CJECE = "Canadian J. Elect. Comput. Eng."}
STRING{IEEE_J_DSC = "{IEEE} Trans. Dependable Secure Comput."}
STRING{IEEE_O_DSO = "{IEEE} Distrib. Syst. Online"}
6. The following OLD journal definitions have been disabled because
their abbreviations have not yet been found/verified:
STRING{IEEE_J_BCTV = "{IEEE} Trans. Broadcast Television Receivers"}
STRING{IEEE_J_EWS = "{IEEE} Trans. Eng. Writing Speech"}
If you know what the proper abbreviation is for a string in #5 or #6 above,
email me and I will correct them in the next release.
IEEE Journals
aerospace and military
@STRING{IEEE_J_AES = "{IEEE} Trans. Aerosp. Electron. Syst."}
@STRING{IEEE_J_ANE = "{IEEE} Trans. Aerosp. Navig. Electron."}
@STRING{IEEE_J_ANNE = "{IEEE} Trans. Aeronaut. Navig. Electron."}
@STRING{IEEE_J_AS = "{IEEE} Trans. Aerosp."}
@STRING{IEEE_J_AIRE = "{IEEE} Trans. Airborne Electron."}
@STRING{IEEE_J_MIL = "{IEEE} Trans. Mil. Electron."}
autos, transportation and vehicles (non-aerospace)
@STRING{IEEE_J_ITS = "{IEEE} Trans. Intell. Transp. Syst."}
@STRING{IEEE_J_VT = "{IEEE} Trans. Veh. Technol."}
@STRING{IEEE_J_VC = "{IEEE} Trans. Veh. Commun."}
circuits, signals, systems, audio and controls
@STRING{IEEE_J_SPL = "{IEEE} Signal Process. Lett."}
@STRING{IEEE_J_ASSP = "{IEEE} Trans. Acoust., Speech, Signal Process."}
@STRING{IEEE_J_AU = "{IEEE} Trans. Audio"}
@STRING{IEEE_J_AUEA = "{IEEE} Trans. Audio Electroacoust."}
@STRING{IEEE_J_AC = "{IEEE} Trans. Autom. Control"}
@STRING{IEEE_J_CAS = "{IEEE} Trans. Circuits Syst."}
@STRING{IEEE_J_CASVT = "{IEEE} Trans. Circuits Syst. Video Technol."}
@STRING{IEEE_J_CASI = "{IEEE} Trans. Circuits Syst. {I}"}
@STRING{IEEE_J_CASII = "{IEEE} Trans. Circuits Syst. {II}"}
in 2004 CASI and CASII renamed part title to CASI_RP and CASII_EB, respectively.
@STRING{IEEE_J_CASI_RP = "{IEEE} Trans. Circuits Syst. {I}"}
@STRING{IEEE_J_CASII_EB = "{IEEE} Trans. Circuits Syst. {II}"}
@STRING{IEEE_J_CT = "{IEEE} Trans. Circuit Theory"}
@STRING{IEEE_J_CST = "{IEEE} Trans. Control Syst. Technol."}
@STRING{IEEE_J_SP = "{IEEE} Trans. Signal Process."}
@STRING{IEEE_J_SU = "{IEEE} Trans. Sonics Ultrason."}
@STRING{IEEE_J_SAP = "{IEEE} Trans. Speech Audio Process."}
@STRING{IEEE_J_UE = "{IEEE} Trans. Ultrason. Eng."}
@STRING{IEEE_J_UFFC = "{IEEE} Trans. Ultrason., Ferroelectr., Freq. Control"}
communications
@STRING{IEEE_J_COML = "{IEEE} Commun. Lett."}
@STRING{IEEE_J_JSAC = "{IEEE} J. Sel. Areas Commun."}
@STRING{IEEE_J_COM = "{IEEE} Trans. Commun."}
@STRING{IEEE_J_COMT = "{IEEE} Trans. Commun. Technol."}
@STRING{IEEE_J_WCOM = "{IEEE} Trans. Wireless Commun."}
components, packaging and manufacturing
@STRING{IEEE_J_ADVP = "{IEEE} Trans. Adv. Packag."}
@STRING{IEEE_J_CHMT = "{IEEE} Trans. Compon., Hybrids, Manuf. Technol."}
@STRING{IEEE_J_CPMTA = "{IEEE} Trans. Compon., Packag., Manuf. Technol. {A}"}
@STRING{IEEE_J_CPMTB = "{IEEE} Trans. Compon., Packag., Manuf. Technol. {B}"}
@STRING{IEEE_J_CPMTC = "{IEEE} Trans. Compon., Packag., Manuf. Technol. {C}"}
@STRING{IEEE_J_CAPT = "{IEEE} Trans. Compon. Packag. Technol."}
@STRING{IEEE_J_CAPTS = "{IEEE} Trans. Compon. Packag. Technol."}
@STRING{IEEE_J_CPART = "{IEEE} Trans. Compon. Parts"}
@STRING{IEEE_J_EPM = "{IEEE} Trans. Electron. Packag. Manuf."}
@STRING{IEEE_J_MFT = "{IEEE} Trans. Manuf. Technol."}
@STRING{IEEE_J_PHP = "{IEEE} Trans. Parts, Hybrids, Packag."}
@STRING{IEEE_J_PMP = "{IEEE} Trans. Parts, Mater., Packag."}
CAD
@STRING{IEEE_J_TCAD = "{IEEE} J. Technol. Comput. Aided Design"}
@STRING{IEEE_J_CAD = "{IEEE} Trans. Comput.-Aided Design Integr. Circuits Syst."}
coding, data, information, knowledge
@STRING{IEEE_J_IT = "{IEEE} Trans. Inf. Theory"}
@STRING{IEEE_J_KDE = "{IEEE} Trans. Knowl. Data Eng."}
computers, computation, networking and software
@STRING{IEEE_J_C = "{IEEE} Trans. Comput."}
@STRING{IEEE_J_CAL = "{IEEE} Comput. Archit. Lett."}
disabled till definition is verified
STRING{IEEE_J_DSC = "{IEEE} Trans. Dependable Secure Comput."}
@STRING{IEEE_J_ECOMP = "{IEEE} Trans. Electron. Comput."}
@STRING{IEEE_J_EVC = "{IEEE} Trans. Evol. Comput."}
@STRING{IEEE_J_FUZZ = "{IEEE} Trans. Fuzzy Syst."}
@STRING{IEEE_J_IFS = "{IEEE} Trans. Inf. Forensics Security"}
@STRING{IEEE_J_MC = "{IEEE} Trans. Mobile Comput."}
@STRING{IEEE_J_NET = "{IEEE/ACM} Trans. Netw."}
@STRING{IEEE_J_NN = "{IEEE} Trans. Neural Netw."}
@STRING{IEEE_J_PDS = "{IEEE} Trans. Parallel Distrib. Syst."}
@STRING{IEEE_J_SE = "{IEEE} Trans. Softw. Eng."}
computer graphics, imaging, and multimedia
@STRING{IEEE_J_JDT = "{IEEE/OSA} J. Display Technol."}
@STRING{IEEE_J_IP = "{IEEE} Trans. Image Process."}
@STRING{IEEE_J_MM = "{IEEE} Trans. Multimedia"}
@STRING{IEEE_J_VCG = "{IEEE} Trans. Vis. Comput. Graphics"}
cybernetics, ergonomics, robots, man-machine, and automation
@STRING{IEEE_J_ASE = "{IEEE} Trans. Autom. Sci. Eng."}
@STRING{IEEE_J_JRA = "{IEEE} J. Robot. Autom."}
@STRING{IEEE_J_HFE = "{IEEE} Trans. Hum. Factors Electron."}
@STRING{IEEE_J_MMS = "{IEEE} Trans. Man-Mach. Syst."}
@STRING{IEEE_J_PAMI = "{IEEE} Trans. Pattern Anal. Mach. Intell."}
in 1989 JRA became RA
in August 2004, RA split into ASE and RO
@STRING{IEEE_J_RA = "{IEEE} Trans. Robot. Autom."}
@STRING{IEEE_J_RO = "{IEEE} Trans. Robot."}
@STRING{IEEE_J_SMC = "{IEEE} Trans. Syst., Man, Cybern."}
@STRING{IEEE_J_SMCA = "{IEEE} Trans. Syst., Man, Cybern. {A}"}
@STRING{IEEE_J_SMCB = "{IEEE} Trans. Syst., Man, Cybern. {B}"}
@STRING{IEEE_J_SMCC = "{IEEE} Trans. Syst., Man, Cybern. {C}"}
@STRING{IEEE_J_SSC = "{IEEE} Trans. Syst. Sci. Cybern."}
earth, wind, fire and water
@STRING{IEEE_J_GE = "{IEEE} Trans. Geosci. Electron."}
@STRING{IEEE_J_GRS = "{IEEE} Trans. Geosci. Remote Sens."}
@STRING{IEEE_J_GRSL = "{IEEE} Geosci. Remote Sens. Lett."}
@STRING{IEEE_J_OE = "{IEEE} J. Ocean. Eng."}
education, engineering, history, IEEE, professional
disabled till definition is verified
STRING{IEEE_J_CJECE = "Canadian J. Elect. Comput. Eng."}
@STRING{IEEE_J_PROC = "Proc. {IEEE}"}
@STRING{IEEE_J_EDU = "{IEEE} Trans. Educ."}
@STRING{IEEE_J_EM = "{IEEE} Trans. Eng. Manag."}
disabled till definition is verified
STRING{IEEE_J_EWS = "{IEEE} Trans. Eng. Writing Speech"}
@STRING{IEEE_J_PC = "{IEEE} Trans. Prof. Commun."}
electromagnetics, antennas, EMI, magnetics and microwave
@STRING{IEEE_J_AWPL = "{IEEE} Antennas Wireless Propag. Lett."}
@STRING{IEEE_J_MGWL = "{IEEE} Microw. Guided Wave Lett."}
IEEE seems to want "Compon." here, not "Comp."
@STRING{IEEE_J_MWCL = "{IEEE} Microw. Wireless Compon. Lett."}
@STRING{IEEE_J_AP = "{IEEE} Trans. Antennas Propag."}
@STRING{IEEE_J_EMC = "{IEEE} Trans. Electromagn. Compat."}
@STRING{IEEE_J_MAG = "{IEEE} Trans. Magn."}
@STRING{IEEE_J_MTT = "{IEEE} Trans. Microw. Theory Tech."}
@STRING{IEEE_J_RFI = "{IEEE} Trans. Radio Freq. Interference"}
@STRING{IEEE_J_TJMJ = "{IEEE} Transl. J. Magn. Jpn."}
energy and power
@STRING{IEEE_J_EC = "{IEEE} Trans. Energy Convers."}
@STRING{IEEE_J_PEL = "{IEEE} Power Electron. Lett."}
@STRING{IEEE_J_PWRAS = "{IEEE} Trans. Power App. Syst."}
@STRING{IEEE_J_PWRD = "{IEEE} Trans. Power Del."}
@STRING{IEEE_J_PWRE = "{IEEE} Trans. Power Electron."}
@STRING{IEEE_J_PWRS = "{IEEE} Trans. Power Syst."}
industrial, commercial and consumer
@STRING{IEEE_J_APPIND = "{IEEE} Trans. Appl. Ind."}
@STRING{IEEE_J_BC = "{IEEE} Trans. Broadcast."}
disabled till definition is verified
STRING{IEEE_J_BCTV = "{IEEE} Trans. Broadcast Television Receivers"}
@STRING{IEEE_J_CE = "{IEEE} Trans. Consum. Electron."}
@STRING{IEEE_J_IE = "{IEEE} Trans. Ind. Electron."}
@STRING{IEEE_J_IECI = "{IEEE} Trans. Ind. Electron. Contr. Instrum."}
@STRING{IEEE_J_IA = "{IEEE} Trans. Ind. Appl."}
@STRING{IEEE_J_IGA = "{IEEE} Trans. Ind. Gen. Appl."}
@STRING{IEEE_J_IINF = "{IEEE} Trans. Ind. Informat."}
@STRING{IEEE_J_PSE = "{IEEE} J. Product Safety Eng."}
instrumentation and measurement
@STRING{IEEE_J_IM = "{IEEE} Trans. Instrum. Meas."}
insulation and materials
@STRING{IEEE_J_JEM = "{IEEE/TMS} J. Electron. Mater."}
@STRING{IEEE_J_DEI = "{IEEE} Trans. Dielectr. Electr. Insul."}
@STRING{IEEE_J_EI = "{IEEE} Trans. Electr. Insul."}
mechanical
@STRING{IEEE_J_MECH = "{IEEE/ASME} Trans. Mechatronics"}
@STRING{IEEE_J_MEMS = "J. Microelectromech. Syst."}
medical and biological
@STRING{IEEE_J_BME = "{IEEE} Trans. Biomed. Eng."}
Note: The B-ME journal later dropped the hyphen and became the BME.
@STRING{IEEE_J_B-ME = "{IEEE} Trans. Bio-Med. Eng."}
@STRING{IEEE_J_BMELC = "{IEEE} Trans. Bio-Med. Electron."}
disabled till definition is verified
STRING{IEEE_J_CBB = "{IEEE/ACM} Trans. Comput. Biology Bioinformatics"}
@STRING{IEEE_J_ITBM = "{IEEE} Trans. Inf. Technol. Biomed."}
@STRING{IEEE_J_ME = "{IEEE} Trans. Med. Electron."}
@STRING{IEEE_J_MI = "{IEEE} Trans. Med. Imag."}
@STRING{IEEE_J_NB = "{IEEE} Trans. Nanobiosci."}
@STRING{IEEE_J_NSRE = "{IEEE} Trans. Neural Syst. Rehabil. Eng."}
@STRING{IEEE_J_RE = "{IEEE} Trans. Rehabil. Eng."}
optics, lightwave and photonics
@STRING{IEEE_J_PTL = "{IEEE} Photon. Technol. Lett."}
@STRING{IEEE_J_JLT = "J. Lightw. Technol."}
physics, electrons, nanotechnology, nuclear and quantum electronics
@STRING{IEEE_J_EDL = "{IEEE} Electron Device Lett."}
@STRING{IEEE_J_JQE = "{IEEE} J. Quantum Electron."}
@STRING{IEEE_J_JSTQE = "{IEEE} J. Sel. Topics Quantum Electron."}
@STRING{IEEE_J_ED = "{IEEE} Trans. Electron Devices"}
@STRING{IEEE_J_NANO = "{IEEE} Trans. Nanotechnol."}
@STRING{IEEE_J_NS = "{IEEE} Trans. Nucl. Sci."}
@STRING{IEEE_J_PS = "{IEEE} Trans. Plasma Sci."}
reliability
IEEE seems to want "Mat." here, not "Mater."
@STRING{IEEE_J_DMR = "{IEEE} Trans. Device Mater. Rel."}
@STRING{IEEE_J_R = "{IEEE} Trans. Rel."}
semiconductors, superconductors, electrochemical and solid state
@STRING{IEEE_J_ESSL = "{IEEE/ECS} Electrochem. Solid-State Lett."}
@STRING{IEEE_J_JSSC = "{IEEE} J. Solid-State Circuits"}
@STRING{IEEE_J_ASC = "{IEEE} Trans. Appl. Supercond."}
@STRING{IEEE_J_SM = "{IEEE} Trans. Semicond. Manuf."}
sensors
@STRING{IEEE_J_SENSOR = "{IEEE} Sensors J."}
VLSI
@STRING{IEEE_J_VLSI = "{IEEE} Trans. {VLSI} Syst."}
IEEE Magazines
@STRING{IEEE_M_AES = "{IEEE} Aerosp. Electron. Syst. Mag."}
@STRING{IEEE_M_HIST = "{IEEE} Ann. Hist. Comput."}
@STRING{IEEE_M_AP = "{IEEE} Antennas Propag. Mag."}
@STRING{IEEE_M_ASSP = "{IEEE} {ASSP} Mag."}
@STRING{IEEE_M_CD = "{IEEE} Circuits Devices Mag."}
@STRING{IEEE_M_CAS = "{IEEE} Circuits Syst. Mag."}
@STRING{IEEE_M_COM = "{IEEE} Commun. Mag."}
@STRING{IEEE_M_COMSOC = "{IEEE} Commun. Soc. Mag."}
@STRING{IEEE_M_CIM = "{IEEE} Comput. Intell. Mag."}
CSEM changed to CSE in 1999
@STRING{IEEE_M_CSE = "{IEEE} Comput. Sci. Eng."}
@STRING{IEEE_M_CSEM = "{IEEE} Comput. Sci. Eng. Mag."}
@STRING{IEEE_M_C = "{IEEE} Computer"}
@STRING{IEEE_M_CAP = "{IEEE} Comput. Appl. Power"}
@STRING{IEEE_M_CGA = "{IEEE} Comput. Graph. Appl."}
@STRING{IEEE_M_CONC = "{IEEE} Concurrency"}
@STRING{IEEE_M_CS = "{IEEE} Control Syst. Mag."}
@STRING{IEEE_M_DTC = "{IEEE} Des. Test. Comput."}
@STRING{IEEE_M_EI = "{IEEE} Electr. Insul. Mag."}
@STRING{IEEE_M_ETR = "{IEEE} ElectroTechnol. Rev."}
@STRING{IEEE_M_EMB = "{IEEE} Eng. Med. Biol. Mag."}
@STRING{IEEE_M_EMR = "{IEEE} Eng. Manag. Rev."}
@STRING{IEEE_M_EXP = "{IEEE} Expert"}
@STRING{IEEE_M_IA = "{IEEE} Ind. Appl. Mag."}
@STRING{IEEE_M_IM = "{IEEE} Instrum. Meas. Mag."}
@STRING{IEEE_M_IS = "{IEEE} Intell. Syst."}
@STRING{IEEE_M_IC = "{IEEE} Internet Comput."}
@STRING{IEEE_M_ITP = "{IEEE} {IT} Prof."}
@STRING{IEEE_M_MICRO = "{IEEE} Micro"}
@STRING{IEEE_M_MW = "{IEEE} Microw. Mag."}
@STRING{IEEE_M_MM = "{IEEE} Multimedia"}
@STRING{IEEE_M_NET = "{IEEE} Netw."}
IEEE's editorial manual lists "Pers. Commun.",
but "Personal Commun. Mag." seems to be what is used in the journals
@STRING{IEEE_M_PCOM = "{IEEE} Personal Commun. Mag."}
@STRING{IEEE_M_POT = "{IEEE} Potentials"}
CAP and PER merged to form PE in 2003
@STRING{IEEE_M_PE = "{IEEE} Power Energy Mag."}
@STRING{IEEE_M_PER = "{IEEE} Power Eng. Rev."}
@STRING{IEEE_M_PVC = "{IEEE} Pervasive Comput."}
@STRING{IEEE_M_RA = "{IEEE} Robot. Autom. Mag."}
@STRING{IEEE_M_SAP = "{IEEE} Security Privacy"}
@STRING{IEEE_M_SP = "{IEEE} Signal Process. Mag."}
@STRING{IEEE_M_S = "{IEEE} Softw."}
@STRING{IEEE_M_SPECT = "{IEEE} Spectr."}
@STRING{IEEE_M_TS = "{IEEE} Technol. Soc. Mag."}
@STRING{IEEE_M_VT = "{IEEE} Veh. Technol. Mag."}
@STRING{IEEE_M_WC = "{IEEE} Wireless Commun. Mag."}
@STRING{IEEE_M_TODAY = "Today's Engineer"}
IEEE Online Publications
@STRING{IEEE_O_CSTO = "{IEEE} Commun. Surveys Tuts."}
disabled till definition is verified
STRING{IEEE_O_DSO = "{IEEE} Distrib. Syst. Online"}
--
EOF

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%% bare_conf.tex
%% V1.4b
%% 2015/08/26
%% by Michael Shell
%% See:
%% http://www.michaelshell.org/
%% for current contact information.
%%
%% This is a skeleton file demonstrating the use of IEEEtran.cls
%% (requires IEEEtran.cls version 1.8b or later) with an IEEE
%% conference paper.
%%
%% Support sites:
%% http://www.michaelshell.org/tex/ieeetran/
%% http://www.ctan.org/pkg/ieeetran
%% and
%% http://www.ieee.org/
%%*************************************************************************
%% Legal Notice:
%% This code is offered as-is without any warranty either expressed or
%% implied; without even the implied warranty of MERCHANTABILITY or
%% FITNESS FOR A PARTICULAR PURPOSE!
%% User assumes all risk.
%% In no event shall the IEEE or any contributor to this code be liable for
%% any damages or losses, including, but not limited to, incidental,
%% consequential, or any other damages, resulting from the use or misuse
%% of any information contained here.
%%
%% All comments are the opinions of their respective authors and are not
%% necessarily endorsed by the IEEE.
%%
%% This work is distributed under the LaTeX Project Public License (LPPL)
%% ( http://www.latex-project.org/ ) version 1.3, and may be freely used,
%% distributed and modified. A copy of the LPPL, version 1.3, is included
%% in the base LaTeX documentation of all distributions of LaTeX released
%% 2003/12/01 or later.
%% Retain all contribution notices and credits.
%% ** Modified files should be clearly indicated as such, including **
%% ** renaming them and changing author support contact information. **
%%*************************************************************************
% *** Authors should verify (and, if needed, correct) their LaTeX system ***
% *** with the testflow diagnostic prior to trusting their LaTeX platform ***
% *** with production work. The IEEE's font choices and paper sizes can ***
% *** trigger bugs that do not appear when using other class files. *** ***
% The testflow support page is at:
% http://www.michaelshell.org/tex/testflow/
\documentclass[conference]{IEEEtran}
% Some Computer Society conferences also require the compsoc mode option,
% but others use the standard conference format.
%
% If IEEEtran.cls has not been installed into the LaTeX system files,
% manually specify the path to it like:
% \documentclass[conference]{../sty/IEEEtran}
% needed packages
\usepackage{color, colortbl}
%\usepackage[table]{xcolor}
\usepackage{cite}
\usepackage{graphicx}
\usepackage{amsfonts}
\usepackage[cmex10]{amsmath}
\interdisplaylinepenalty=2500
\usepackage{algorithmic}
\usepackage{array}
\usepackage{mdwmath}
\usepackage{mdwtab}
\usepackage{eqparbox}
\usepackage{epstopdf}
%\usepackage{ulem}
% replacement for the SI package
\newcommand{\SI}[2]{\ensuremath{#1}\text{\,#2}}
\newcommand{\SIrange}[3]{\ensuremath{#1} to \ensuremath{#2}\text{\,#3}}
% units for the SI package
\newcommand{\centimeter}{cm}
\newcommand{\meter}{m}
\newcommand{\per}{/}
\newcommand{\milli}{m}
\newcommand{\second}{s}
\newcommand{\giga}{G}
\newcommand{\hertz}{Hz}
\newcommand{\dBm}{dBm}
\newcommand{\percent}{\%}
\newcommand{\decibel}{dB}
\newcommand{\dB}{dB}
\newcommand{\hpa}{hPa}
\newcommand{\degree}{\ensuremath{^{\circ}}}
% missing math operators
\DeclareMathOperator*{\argmin}{arg\,min}
\DeclareMathOperator*{\argmax}{arg\,max}
% vector and matrix typesetting
\renewcommand{\vec}[1]{\boldsymbol{#1}} % italic and greek symbols
\newcommand{\mat}[1]{\vec{#1}} % the same as vec
%other macros
\newcommand{\noStep}{\overline{\text{step}}}
% gfx include folder
\graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/}}
% correct bad hyphenation here
\hyphenation{op-tical net-works semi-conduc-tor}
% input stuff
\input{misc/keywords}
\input{misc/functions}
\begin{document}
%
% paper title
% Titles are generally capitalized except for words such as a, an, and, as,
% at, but, by, for, in, nor, of, on, or, the, to and up, which are usually
% not capitalized unless they are the first or last word of the title.
% Linebreaks \\ can be used within to get better formatting as desired.
% Do not put math or special symbols in the title.
\title{On Prior Navigation Knowledge in Multi Sensor Indoor Localisation}
% author names and affiliations
% use a multiple column layout for up to three different
% affiliations
\author{
\IEEEauthorblockN{Frank Ebner, Toni Fetzer and Frank Deinzer}%
\IEEEauthorblockA{%
Faculty of Computer Science and Business Information Systems\\
University of Applied Sciences W\"urzburg-Schweinfurt\\
W\"urzburg, Germany\\
\{frank.ebner, toni.fetzer, frank.deinzer\}@fhws.de\\
}
\and
\IEEEauthorblockN{Marcin Grzegorzek}
\IEEEauthorblockA{%
Pattern Recognition Group \\
University of Siegen\\
Siegen, Germany\\
\{marcin.grzegorzek\}@uni-siegen.de
}%
}
% conference papers do not typically use \thanks and this command
% is locked out in conference mode. If really needed, such as for
% the acknowledgment of grants, issue a \IEEEoverridecommandlockouts
% after \documentclass
% use for special paper notices
%\IEEEspecialpapernotice{(Invited Paper)}
% make the title area
\maketitle
% As a general rule, do not put math, special symbols or citations
% in the abstract
\input{chapters/abstract}
% For peer review papers, you can put extra information on the cover
% page as needed:
% \ifCLASSOPTIONpeerreview
% \begin{center} \bfseries EDICS Category: 3-BBND \end{center}
% \fi
%
% For peerreview papers, this IEEEtran command inserts a page break and
% creates the second title. It will be ignored for other modes.
\IEEEpeerreviewmaketitle
\input{chapters/introduction}
\input{chapters/relatedwork}
\input{chapters/system}
\input{chapters/transition}
\input{chapters/smoothing}
\input{chapters/experiments}
\input{chapters/conclusion}
% conference papers do not normally have an appendix
% use section* for acknowledgment
%\section*{Acknowledgment}
%The authors would like to thank...
% balancing
%\IEEEtriggeratref{8}
% The "triggered" command can be changed if desired:
%\IEEEtriggercmd{\enlargethispage{-5in}}
% references section
\bibliographystyle{IEEEtran}
\bibliography{IEEEabrv,egbib}
\end{document}

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\begin{abstract}
\end{abstract}

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\section{Conclusion}

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\section{Experiments}
ddd \cite{Ville09} dddd

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\section{Flooplan - REMOVE}

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\section{Introduction}
Smoothing Smoothing Smoothing

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\section{Related Work}

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\section{Smoothing}
Test

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\section{Recursive State Estimation}

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\section{Transition}
\label{sec:transition}
%

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PATH=$PATH:/mnt/data/texlive/bin/x86_64-linux/
latex bare_conf.tex
bibtex bare_conf
latex bare_conf.tex
latex bare_conf.tex
dvips bare_conf.dvi
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\newcommand{\mAvgSquaredError}{\ensuremath{\overline{e}}}
\newcommand{\mLogDistGamma}{\ensuremath{\gamma}}
\newcommand{\mLogDistTX}{TX}
\newcommand{\mDongle}[1]{\ensuremath{D_{#1}}}
%\newcommand{\mDongle}{d} % dongle
\newcommand{\mBeacon}[1]{\ensuremath{B_{#1}}} % beacon
\newcommand{\mRssi}{\ensuremath{s}} % client's signal-strength measurement
\newcommand{\mMdlRSSI}{\ensuremath{\varsigma}} % model's signal-strength
\newcommand{\mPosAP}{\varrho} % char for access point position vector
\newcommand{\mPos}{\rho} % char for positions
\newcommand{\mPosVec}{\vec{\mPos}} % position vector
\newcommand{\mRssiVec}{\vec{s}} % client signal strength measurements
\newcommand{\mState}{q} % state variable
\newcommand{\mStateVec}{\vec{q}} % state vector variable
\newcommand{\mObs}{o} % observation variable
\newcommand{\mObsVec}{\vec{o}} % observation vector variable
\newcommand{\mObsWifi}{\vec{o}_{\text{wifi}}} % wifi observation
\newcommand{\mProb}{p} % char for probability
\newcommand{\mMovingAvgWithSize}[1]{\ensuremath{\text{avg}_{#1}}}
\newcommand{\mPressure}{\rho}
\newcommand{\mObsPressure}{\mPressure_\text{rel}} % symbol for observation pressure
\newcommand{\mStatePressure}{\hat{\mPressure}_\text{rel}} % symbol for state pressure
\newcommand{\mHeading}{\theta}
\newcommand{\mObsHeading}{\Delta\mHeading} % symbol used for the observation heading
\newcommand{\mStateHeading}{\mHeading} % symbol used for the state heading
\newcommand{\mSteps}{n_\text{steps}}
\newcommand{\mObsSteps}{\mSteps}
\newcommand{\mNN}{\text{nn}}
\newcommand{\mKNN}{\text{knn}}
\newcommand{\fPos}[1]{\textbf{pos}(#1)}
\newcommand{\fDistance}[2]{\delta(#1, #2)}
\newcommand{\fWA}[1]{\text{wall}(#1)}
\newcommand{\fDD}[1]{\text{door}(#1)}
\newcommand{\fImp}[1]{\text{imp}(#1)}
\newcommand{\fNN}[2]{\text{nn}(#1, #2)}
\newcommand{\fLength}[2]{\text{d}(#1, #2)}
%\newcommand{\mTarget}{\dot{v}}
\newcommand{\mVertexA}{v_i}
\newcommand{\mVertexB}{v_j}
\newcommand{\mEdgeAB}{e_{i,j}}
\newcommand{\mVertexDest}{v_\text{dest}}
\newcommand{\mUsePath}{\kappa}
\newcommand{\mStepSize}{s_\text{step}}
%\newcommand{\docIBeacon}{iBeacon}
% for equation references
\newcommand{\refeq}[1]{eq. \eqref{#1}}
% add todo notes
\newcommand{\todo}[1]{%
\noindent%
\fcolorbox{black}{yellow}{%
\parbox[position]{0.45\textwidth}{%
\footnotesize%
{\bf TODO} #1%
}%
}%
}
%\newcommand{\commentByFrank}[1]{}
%\newcommand{\commentByToni}[1]{}
%comments
\newcommand{\commentByFrank}[1]{%
\noindent%
\fcolorbox{black}{cyan}{%
\parbox[position]{0.45\textwidth}{%
\footnotesize%
{\bf Frank:} #1%
}%
}%
}
\newcommand{\commentByLukas}[1]{%
\noindent%
\fcolorbox{black}{green}{%
\parbox[position]{0.45\textwidth}{%
\footnotesize%
{\bf Lukas:} #1%
}%
}%
}
\newcommand{\commentByToni}[1]{%
\noindent%
\fcolorbox{black}{red}{%
\parbox[position]{0.45\textwidth}{%
\footnotesize%
{\bf Toni:} #1%
}%
}%
}
\newcommand{\docRSSI}{RSSI}
\newcommand{\docTX}{TX}
\newcommand{\docLogDist}{log-distance}
%\newcommand{\docAP}{access-point}
%\newcommand{\docAPs}{access-points}
\newcommand{\R}{\mathbb{R}}
\newcommand{\N}{\mathbb{N}}
\newcommand{\mPLE}{\ensuremath{\gamma}} % path-loss exponent
\newcommand{\mTXP}{\ensuremath{P_0}} % tx-power
\newcommand{\mWAF}{\ensuremath{\beta}} % wall attenuation factor
\newcommand{\mMdlDist}{\ensuremath{d}} % distance used within propagation models
%\newcommand{\mGraph}{\ensuremath{G}}
%\newcommand{\mVertices}{\ensuremath{V}}
%\newcommand{\mVertex}{\ensuremath{v}}
%\newcommand{\mVertexB}{\ensuremath{w}}
%\newcommand{\mEdges}{\ensuremath{E}}
%\newcommand{\mEdge}{\ensuremath{e}}

31
tex/misc/keywords.tex Normal file
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% keyword macros
\newcommand{\docIBeacon}{iBeacon}
% wifi naming
\newcommand{\wifiRSSI}{RSSI}
\newcommand{\wifiTxPower}{TX-Power}
\newcommand{\wifiPathLossExp}{PathLoss}
\newcommand{\wifiPropLogScale}{Log-Scale}
\newcommand{\wifiPropLogScaleWalls}{Log-Scale-Walls}
\newcommand{\docLogDistance}{log-distance}
\newcommand{\docLogDistanceWalls}{wall-attenuation-factor}
% misc
\newcommand{\docTxPower}{TX-Power}
\newcommand{\docPathLossExp}{PathLoss}
\newcommand{\docPathLoss}{Pathloss}
\newcommand{\docsAP}{AP}
\newcommand{\docAPshort}{AP}
\newcommand{\docAP}{access-point}
\newcommand{\docAPs}{access-points}
\newcommand{\docWIFI}{Wi\hbox{-}Fi}
\newcommand{\docBeacon}{\Gls{Beacon}}
\newcommand{\docBeacons}{\Glspl{Beacon}}
\newcommand{\docsRSSI}{RSSI}
\newcommand{\docDSimplex}{downhill-simplex}