added tex template

code/eval/SmoothingEval1.h

@@ -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